EP1541897A1 - Rotation system with three degree of freedom and application of the same - Google Patents
Rotation system with three degree of freedom and application of the same Download PDFInfo
- Publication number
- EP1541897A1 EP1541897A1 EP03741435A EP03741435A EP1541897A1 EP 1541897 A1 EP1541897 A1 EP 1541897A1 EP 03741435 A EP03741435 A EP 03741435A EP 03741435 A EP03741435 A EP 03741435A EP 1541897 A1 EP1541897 A1 EP 1541897A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- guide rail
- rotor
- degrees
- shafts
- indication bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
- F16H21/48—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions for conveying rotary motions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
- F16H21/54—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions for conveying or interconverting oscillating or reciprocating motions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/048—Allowing translations adapted to forward-backward translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
Definitions
- the present invention relates to a rotation system with three degrees of freedom, using at least three guide rails, wherein one of the guide rails and two other guide rails are installed on a base so as to be orthogonal to each other, an indication bar is installed on a rotor, and at least one slider is installed on the indication bar, which detect a direction of the rotor by rotating the guide rails, sliding along the guide rails, and rotate the rotor by rotating the guide rails by actuators.
- a rotation system with three degrees of freedom is developed, where one guide rail and two guide rails which are parallel are combined so as to be orthogonal, moreover some encoders installed on a base detect rotation angles of these guide rails.
- a rotation system with three degrees of freedom which rotates these guide rails by using actuators installed on a base, is also developed.
- the invention described in claim 1 is a rotation system with three degrees of freedom comprising a rotor comprising a part or a whole of a sphere, an indication bar, at least one slider, at least one base, four shafts, six bearings, and three first to third guide rails, wherein said rotor includes said indication bar, said first guide rail is installed on said base by using two said shafts and two said bearings, said second guide rail and said third guide rail are installed on said base by using two remaining said shafts and four remaining said bearings, and at least one said slider is installed on or concatenated with said indication bar, moreover wherein said rotor rotates centering around two said shafts supporting said first guide rail, sliding said indication bar along said first guide rail, said rotor rotates centering around two said shafts supporting said first guide rail, sliding said indication bar along said second guide rail, and said rotor rotates centering around said indication bar, sliding at least one said slider along said third guide rail.
- the present invention is an enforcement form of a rotation system with three degrees of freedom, said rotor of which rotates with three degrees of freedom.
- said first guide rail, said second guide rail and said third guide rail are formed in a shape of an arc, centering around said rotor mainly.
- Said rotor rotates according to rotation of these said guide rails, while these said guide rails rotate according to rotation of this said rotor.
- Each of these said guide rails may be in a shape of a bar, or may have a slit. In particular, in a case that each of these said guide rails has this said slit, this said guide rail may be cut out from a plate, or may be constructed by combining with at least two wires.
- Said indication bar is installed on said rotor in a direction passing through a center of this said rotor on an extension line of this said indication bar.
- this said indication bar may be in a shape of a pipe.
- this said rotor may be hollow.
- Four said shafts may be fixed to any of said first guide rail, said second guide rail, said third guide rail and at least one said base.
- these said shafts may be installed on these said bases via spacers. Note that two rotation axes connecting to two pairs of said shafts are orthogonal, and pass through a center of this said rotor, respectively.
- a ball bearing also can be used for said bearing.
- this said guide rail makes a specific angle centering around a rotation axis passing through these said shafts, a gap of this said guide rail and said second guide rail keeps constant in spite of a place. At least one said slider slides along said third guide rail. Therefore, when said gap of these guide rails becomes big, an angle made by a line, which passes through this said slider and said indication bar, and these said guide rails approaches to 90 degrees. Oppositely, when said gap of these guide rails becomes small, an angle made by this said line and these guide rails approaches to 0 degree. By varying said gap of these guide rails, thus, a rotation angle of said rotor centering around an indication bar can be changed. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 2 is a rotation system with three degrees of freedom according to claim 1, wherein said indication bar passes through slits, which are opened in at least one of said first guide rail and a second guide rail.
- Said first guide rail and said second guide rail may be cut out from a plate, respectively, or may be constructed by combining at least two wires.
- Said first guide rail rotates centering around two said shafts. Therefore, since said indication bar passes through said slit opened in this guide rail, a direction of this said indication bar coincides with a direction of this said guide rail.
- Said second guide rail rotates centering around two remaining said shafts.
- this said indication bar passes through said slit opened in this guide rail, a direction of this said indication bar coincides with a direction of this said guide rail.
- a direction of this said indication bar is derived precisely. Since a direction of said indication bar can be decided without spending time and effort too much, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 3 is a rotation system with three degrees of freedom according to claim 1 or 2, wherein a fourth guide rail is installed on said indication bar, and said slider slides along said fourth guide rail.
- Said fourth guide rail may be in a shape of a bar, or may have a slit.
- this said guide rail may be cut out from a plate, or may be constructed by combining with at least two wires.
- this said guide rail is in a shape of an umbrella. In this case, this said guide rail can increase the strength.
- This said guide rail rotates centering around said indication bar.
- a rotation direction of this said indication bar coincides with a direction of this said slider viewed from this said indication bar.
- the invention described in claim 4 is a rotation system with three degrees of freedom comprising a rotor comprising a part or a whole of a sphere, an indication bar, at least two sliders, at least one base, four shafts, six bearings, and three first to third guide rails, wherein said rotor comprises said indication bar, said first guide rail is installed on said base by using two said shafts and two said bearings, said second guide rail and said third guide rail are installed on said base by using two remaining said shafts and four remaining said bearings, and at least two said sliders are installed on or concatenated with said indication bar, moreover wherein said rotor rotates centering around two said shafts supporting said first guide rail, sliding said indication bar along said first guide rail, said rotor rotates centering around two said shafts supporting said second guide rail and said third guide rail, sliding at least two said sliders along these guide rails, and said rotor rotates centering around said indication bar, sliding at least two said sliders along said second guide rail and said third guide rail.
- the present invention is an enforcement form of a rotation system with three degrees of freedom, said rotor of which rotates with three degrees of freedom.
- said first guide rail, said second guide rail and said third guide rail are formed in a shape of an arc, centering around said rotor mainly.
- Said rotor rotates according to rotation of these said guide rails, while these said guide rails rotate according to rotation of this said rotor.
- Each of these said guide rails may be in a shape of a bar, or may have a slit. In particular, in a case that each of these said guide rails has this said slit, this said guide rail may be cut out from a plate, or may be constructed by combining with at least two wires.
- Said indication bar is installed on said rotor in a direction passing through a center of this said rotor on an extension line of this said indication bar.
- this said indication bar may be in a shape of a pipe.
- this said rotor may be hollow.
- Four said shafts may be fixed to any of said first guide rail, said second guide rail, said third guide rail and at least one said base.
- these said shafts may be installed on these said bases via spacers. Note that two rotation axes connecting to two pairs of said shafts are orthogonal, and pass through a center of this said rotor, respectively.
- a ball bearing also can be used for said bearing.
- said first guide rail rotates centering around two said shafts
- a direction of said indication bar coincides with a direction of this said guide rail. Therefore, said rotor rotates centering around these said shafts according to said direction of this said guide rail.
- Said second guide rail and a third guide rail rotate centering around the same two said shafts, respectively.
- these said guide rails can rotate independently, respectively.
- these guide rails may be in a shape of a nest or may be alternative.
- both terminals of these said guide rails are formed as a part in a shape of an arc of each of these said guide rails and said base become orthogonal.
- a gap of these said guide rails keeps constant in spite of a place.
- At least two said sliders are installed on or connected with said indication bar so as to face with each other, and slide along these said guide rails, respectively. Therefore, when said gap of these guide rails becomes big, an angle made by these said sliders and these said guide rails approaches to 90 degrees. Oppositely, when said gap of these guide rails becomes small, an angle made by these said sliders and these guide rails approaches to 0 degree.
- the invention described in claim 5 is a rotation system with three degrees of freedom according to claim 4, wherein said indication bar passes through a slit, which is opened in said first guide rail.
- Said first guide rail may be cut out from a plate, or may be constructed by combining at least two wires. Said first guide rail rotates centering around two said shafts. Therefore, since said indication bar passes through said slit opened in this guide rail, a direction of this said indication bar coincides with a direction of this said guide rail. By detecting a direction of this guide rail, thus, a rotation angle of this said indication bar centering around two said shafts supporting this said guide rail is derived precisely. Since a direction of said indication bar can be decided without spending time and effort too much, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 6 is a rotation system with three degrees of freedom according to claim 4 or 5, wherein a fourth guide rail and a fifth guide rail are installed on said indication bar, and two said sliders slide along these said guide rails, respectively.
- Said fourth guide rail and said fifth guide rail may be in a shape of a bar, or may have a slit.
- these said guide rails may be cut out from a plate, or may be constructed by combining with at least two wires.
- these said guide rails are in a shape of an umbrella, by combining with each other. In this case, these said guide rails can increase the strength.
- These said guide rails rotate centering around said indication bar.
- a rotation direction of this said indication bar coincides with a direction of at least one said slider viewed from this said indication bar.
- the invention described in claim 7 is a rotation system with three degrees of freedom comprising a rotor comprising a part or a whole of a sphere, an indication bar, at least two sliders, at least one base, four shafts, six bearings, and four first to third and sixth guide rails, wherein said rotor comprises said indication bar, said first guide rail and said sixth guide rail are installed on said base by using two said shafts and two said bearings, said second guide rail and said third guide rail are installed on said base by using two remaining said shafts and four remaining said bearings, and at least two said sliders are installed on or concatenated with said indication bar, moreover wherein said rotor rotates centering around two said shafts supporting said first guide rail and said sixth guide rail, sliding at least two said sliders along these said guide rails, said rotor rotates centering around two said shafts supporting said second guide rail and said third guide rail, sliding at least two said sliders along these guide rails, and said rotor rotates centering around said indication bar, sliding at least two
- the present invention is an enforcement form of a rotation system with three degrees of freedom, said rotor of which rotates with three degrees of freedom.
- said first guide rail, said second guide rail, said third guide rail and said sixth guide rail are formed in a shape of an arc, centering around said rotor mainly. Said rotor rotates according to rotation of these said guide rails, while these said guide rails rotate according to rotation of this said rotor.
- said first guide rail and said sixth guide rail are connected, or are made from one material originally.
- Each of these said guide rails may be in a shape of a bar, or may have a slit.
- this said guide rail may be cut out from a plate, or may be constructed by combining with at least two wires.
- Said indication bar is installed on said rotor in a direction passing through a center of this said rotor on an extension line of this said indication bar.
- this said indication bar may be in a shape of a pipe.
- this said rotor may be hollow.
- Four said shafts may be fixed to any of said first guide rail, said second guide rail, a third guide rail and at least one said base.
- these said shafts may be installed on these said bases via spacers.
- a ball bearing also can be used for said bearing. Since said first guide rail and said sixth guide rail rotate together centering around two said shafts, a direction of said indication bar coincides with a direction of this said guide rail, by adjusting positions of these guide rails as this said indication bar is located at a center of a gap of these said guide rails. Therefore, said rotor rotates centering around these said shafts according to this said direction. Said second guide rail and a third guide rail rotate centering around the same two said shafts, respectively. However, since two said bearings are installed on each of these said shafts, these said guide rails can rotate independently, respectively.
- these guide rails may be in a shape of a nest or may be alternative.
- both terminals of these said guide rails are formed as a part in a shape of an arc of each of these said guide rails and said base become orthogonal. Therefore, in a case that these said guide rails make a specific angle centering around a rotation axis passing through these said shafts, a gap of these said guide rails keeps constant in spite of a place.
- At least two said sliders are installed on or connected with said indication bar so as to face with each other, and slide along these said guide rails, respectively. Therefore, when said gap of these guide rails becomes big, an angle made by these said sliders and these said guide rails approaches to 90 degrees.
- the invention described in claim 8 is a rotation system with three degrees of freedom according to claim 7, wherein at least two said sliders pass through slits, respectively, which are opened in said first guide rail and said sixth guide rail.
- Said first guide rail and said sixth guide rail may be cut out from a plate, respectively, or may be constructed by combining at least two wires. Note that these said guide rails rotates together centering around two said shafts. These said guide rails rotate centering around these said shafts. Therefore, since at least two said sliders pass through said slits opened in these guide rails, respectively, moreover said indication bar is located at a center of these said sliders, a direction of this said indication bar coincides with a direction of these said guide rails.
- the invention described in claim 9 is a rotation system with three degrees of freedom according to claim 7 or 8, wherein a fourth guide rail and a fifth guide rail are installed on said indication bar, and two said sliders slide along these said guide rails, respectively.
- Said fourth guide rail and said fifth guide rail may be in a shape of a bar, or may have a slit.
- these said guide rails may be cut out from a plate, or may be constructed by combining with at least two wires.
- these said guide rails are in a shape of an umbrella, by combining with each other. In this case, these said guide rails can increase the strength.
- These said guide rails rotate centering around said indication bar.
- a rotation direction of this said indication bar coincides with a direction of at least one said slider viewed from this said indication bar.
- the invention described in claim 10 is a rotation system with three degrees of freedom according to any one of claims 1 to 9, wherein said indication bar is a pipe, and at least one wire passes through said indication bar.
- said rotor is said sphere or a part of this said sphere, where an internal part of this said sphere may be hollow.
- An electronic part or a mechanical part is installed on said rotor, and at least one said wire is connected with this said electronic part and this said mechanical part.
- at least one of these said wires connected with this said electronic part is an electric cable. Therefore, these said wires can be taken out to an external part without twining them round all guide rails. Since all said wires can be taken out from said rotor in spite of a direction of this said rotor, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 11 is a rotation system with three degrees of freedom according to any one of claims 1 to 10, wherein all said shafts are installed on at least one said base so as to face with each other every two shafts.
- Four said shafts may be embedded in said base, may be cut out from at least one said base or may be installed on it via spacers.
- two rotation axes connecting to two pairs of said shafts are orthogonal, and pass through a center of said rotor, respectively.
- Each said bearing is installed on or formed at both terminals of said second guide rail and a third guide rail, respectively, moreover is connected to two corresponding said shafts, respectively. Therefore, these said guide rails can rotate independently, respectively.
- Two said bearings are installed on or formed at both terminals of at least one of said first guide rail, said fourth guide rail and said fifth guide rail, and are connected to two corresponding said bearings, respectively. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 12 is a rotation system with three degrees of freedom according to any one of claims 1 to 10, wherein four said bearings are installed on at least one said base so as to face with each other every two shafts, two said shafts installed on a terminal of said second guide rail and said third guide rail are installed on two said bearings installed on said base, respectively, and two said bearings installed on another terminal of said second guide rail and said third guide rail are installed on said shafts of said third guide rail and said second guide rail, respectively.
- Four said bearings may be formed from at least one said base or may be installed on it via spacers. Note that two rotation axes connecting two pairs of said shafts connected to these said bearings are orthogonal, and pass through a center of said rotor, respectively.
- Each said shaft is installed on or formed at said terminal of said second guide rail and a third guide rail, respectively, moreover is connected to two corresponding said bearings, respectively.
- said bearings are installed on or formed at either one of both terminals, which does not have said shaft, and corresponding said shafts penetrate. Therefore, these said guide rails can rotate independently, respectively.
- Two said shafts are installed on or formed at both terminals of at least one of said first guide rail, said fourth guide rail and said fifth guide rail, moreover are connected to two corresponding said bearings, respectively. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 13 is a rotation system with three degrees of freedom according to any one of claims 1 to 10, wherein four said bearings are installed on at least one said base so as to face with each other every two shafts, two said shafts installed on both terminals of said second guide rail are installed on two said bearings installed on said base, respectively, and two said bearings installed on both terminal of said third guide rail are installed on said shafts of said second guide rail, respectively.
- Four said bearings may be formed from at least one said base or may be installed on it via spacers. Note that two rotation axes connecting two pairs of said shafts connected to these said bearings are orthogonal, and pass through a center of said rotor, respectively.
- Each said shaft is installed on or formed at both said terminals of said second guide rail, respectively, moreover is connected to two corresponding said bearings, respectively.
- said bearings are installed on or formed at both said terminals of said third guide rail, respectively, and corresponding said shafts penetrate. Therefore, these said guide rails can rotate independently, respectively.
- Two said shafts are installed on or formed at both terminals of at least one of said first guide rail, said fourth guide rail and said fifth guide rail, moreover are connected to two corresponding said bearings, respectively. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 14 is a rotation system with three degrees of freedom according to any one of claims 1 to 13, wherein at least one encoder detects a direction of said rotor, by detecting at least one rotation angle of said guide rails, said shafts and said bearings. By detecting at least one said rotation angle of said guide rails, said shafts and said bearings, said encoder can detect said rotation angle of a corresponding said guide rail.
- said encoder may be fixed directly to at least one said base, or may be connected to these said bases via spacers and a case. Even in a case of using three said encoders, since a direction of said rotor can be detected without moving these said encoders, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 15 is a rotation system with three degrees of freedom according to claim 14, wherein at least one encoder detects said direction of said rotor, by concatenating it to at least one of said guide rails, said shafts and said bearings via plurality of gears.
- a Bevel gear, a Spur gear, a cylindrical gear and a Worm gear can be used for plurality of said gears.
- Said rotation angle of said guide rail can be detected finely by combining these said gears.
- a center of at least one of these said gears is installed so as to overlap said shaft corresponding to this said guide rail.
- the invention described in claim 16 is a rotation system with three degrees of freedom according to claim 14 or 15, wherein each of at least one said encoder comprises an actuator.
- each said encoder and one said actuator share the same rotor element.
- this said actuator can change said rotation angle of said guide rail, according to said rotation angle of this said guide rail detected by this said encoder.
- the invention described in claim 17 is a rotation system with three degrees of freedom according to any one of claims 1 to 13, wherein at least one actuator rotates said rotor, by rotating at least one of said guide rails, said shafts and said bearings.
- said actuator By rotating at least one of said guide rails, said shafts and said bearings centering around said shafts, said actuator can rotate a corresponding said guide rail.
- said actuator may be fixed directly to at least one said base, or may be connected to these said bases via spacers and a case. Even in a case of using three said actuators, since said rotor can be rotated with three degrees of freedom without moving these said actuators, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 18 is a rotation system with three degrees of freedom according to claim 17, wherein at least one actuator rotates said rotor, by concatenating it to at least one of said guide rails, said shafts and said bearings via plurality of gears.
- a Bevel gear, a Spur gear, a cylindrical gear and a Worm gear can be used for plurality of said gears.
- Said actuator can rotate said guide rail by small torque and finely, by combining these said gears. Note that a center of at least one of these said gears is installed so as to overlap said shaft corresponding to this said guide rail. Even in a case of using three said actuators, since a direction of said rotor can be rotated finely without moving these said actuators, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 19 is a rotation system with three degrees of freedom according to claim 14, 15 or 16, wherein a computer system calculates a rotation angle of said rotor, by connecting at least one said encoder to said computer system.
- Said computer system inputs an electric signal corresponding to at least one rotation angle of said guide rails, said shafts and said bearings, where said electric signal is outputted from at least one said encoder. Therefore, even though said electric signal of said encoder is not in proportion to said rotation angle of said rotor, said computer system can calculate this said rotation angle from this said electric signal, by using equations and tables. Since a gap between said electric signal of said encoder, which is generated according to a position of said indication bar, and said rotation angle of said rotor can be corrected, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 20 is a rotation system with three degrees of freedom according to claim 16, 17 or 18, wherein a computer system rotates said rotor, by connecting at least one said actuator to said computer system. At least one said actuator inputs an electric signal outputted by said computer system. Therefore, even though said electric signal of said computer system is not in proportion to said rotation angle of said rotor, said computer system can calculate this said rotation angle by using equations and tables. Since a gap between said electric signal of said computer system, which is generated according to a position of said indication bar, and said rotation angle of said rotor can be corrected, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- the invention described in claim 21 is an artificial eye comprising a rotation system with three degrees of freedom according to claim 20, wherein a camera taking a picture in a direction opposite to said indication bar is embedded in said rotor.
- Said camera is embedded in said rotor as a lens of this said camera faces to a direction opposite to said indication bar, moreover said optical axis of this said lens passes through this said indication bar.
- an electric cable of this said camera is taken out to an external part, passing through said indication bar which is in a shape of a pipe. Therefore, this said camera can take a picture widely by indicating from an external part. Since a direction of said optical axis of said camera can be controlled by said computer system, in the present invention, many problems on an artificial eye are solved very well.
- the invention described in claim 22 is an artificial eye according to claim 21, wherein an image rotates by that said computer system memorizes said image taken by said camera, and outputs each pixel of said image, exchanging an order of said pixels.
- Said computer system can rotate said image up to about 90 degrees, centering around an optical axis of said camera, by using a rotation system with three degrees of freedom.
- this said computer system can rotate this said image within 360 degrees every 90 degrees, without performing affine transform, by changing an order of each pixel of this said image. Therefore, this said computer system can rotate this said image about 360 degrees, without using a special image processing system. Since said image taken by said camera can be rotated with any angle without using this special said image processing system, in the present invention, many problems on an artificial eye are solved very well.
- basic structure of a rotation system with three degrees of freedom is spherical surface bearing structure which is combined a spherical rotor 1 and a base 2 hollowed out circularly.
- An indication bar 3 is installed on the rotor 1.
- two shafts 4, on which a first guide rail 11 is installed, and two shafts 4, on which a second guide rail 12 and a third guide rail 13 are installed, are installed on the base 2 so as to be orthogonal each other.
- the indication bar 3 is arranged at a place where the first guide rail 11, and the second guide rail 12 and the third guide rail 13 cross. In this case, the indication bar 3 can move along these guide rails. That is, the rotor 1 can rotate with three degrees of freedom according to a direction of the indication bar 3.
- FIG.3 and FIG.4 a rotor 1 and a first guide rail 11 rotating centering around rotation axis 6 are shown in FIG.3 and FIG.4.
- the rotor 1 is arranged at a center of a base 2 as a center of the rotor 1 is located on the rotation axis 6, moreover two shafts 4 are installed on the base 2 so as to face each other on the rotation axis 6. Since a central part of the base 2 is here formed circularly, the rotor 1 can rotate freely. Note that an outward form of the base 2 may be voluntary.
- Two bearings 5 are installed on or formed at both terminals of a first guide rail 11, respectively.
- the bearings 5 are installed on the corresponding shafts 4, respectively. Therefore, the first guide rail 11 can rotate centering around the rotation axis 6. Note that some ball bearings can be used as the bearings 5.
- an indication bar 3 is installed on or formed at the rotor 1 as an extension line of the indication bar 3 passes through a center of the rotor 1.
- the indication bar 3 can slide in the slit 21. Therefore, in a case that the rotor 1 rotates centering around the rotation axis 6, the first guide rail 11 also rotates only with the same rotation angle as the rotor 1, centering around the rotation axis 6 because the indication bar 3 pushes the first guide rail 11.
- the rotor 1 also rotates only with the same rotation angle as the first guide rail 11, centering around the rotation axis 6 because the first guide rail 11 pushes the indication bar 3.
- the rotor 1 rotates along a longitudinal direction of the slit 21, the first guide rail 11 does not rotate because the indication bar 3 only slides in the slit 21. Therefore, the rotor 1 can rotate until the indication bar 3 reaches at a terminal of the slit 21. Moreover, in a case that the rotor 1 rotates centering around the indication bar 3, the first guide rail 11 does not rotate because the indication bar 3 does not add force to the first guide rail 11. Therefore, the rotor 1 can rotate infinitely centering around the indication bar 3.
- a base 2 is arranged just at a center of a rotor 1 in FIG.3 and FIG.4, the rotor 1 becomes unstable with this and gets out of the base 2 easily.
- the base 2 can support the rotor 1 by shifting a position of the base 2 from a rotation axis 6 and fixing it to the base 2 by a spacer 7.
- a first guide rail 11 can rotate 180 or more degrees. Note that a central part of the base 2 is formed circularly, according to a contact surface of the rotor 1, and contact surfaces of the rotor 1 and the base 2 are processed so as to make fraction between the rotor 1 and the base 2 very small, respectively.
- the rotor 1 hops within the base 2 at this rate. As shown in FIG.6, therefore, the rotor 1 can be stabilized by holding this rotor 1 by two bases 2. Moreover, assembly of a rotation system with three degrees of freedom becomes easily, if it does in this way.
- many roll bodies in general, balls
- they make fraction between the rotor 1 and the base 2 extremely small, and reduce vibration of the rotor 1.
- FIG.8 is illustrated as a rotation axis 6 of a second guide rail 12 is orthogonal to a rotation axis 6 of a first guide rail 11. If a second guide rail 12 is installed on a base 2, it is clear that two rotation angles centering around two of three rotation axes 6 of a rotor 1 can be detected. It is explained here about a method detecting a rotation angle centering around a remaining one of three rotation axes 6 of a rotor 1, using a third guide rail 13.
- a slider 22 whose terminal is bent toward the outside is installed on an indication bar 3.
- some parts of the slider 22 installed on the indication bar 3 can have any sections, while these parts had better be bent circularly along a surface of a rotor 1.
- a terminal of the slider 22 is in a shape of a bar.
- a third guide rail 13 is installed on the same rotation axis 6 as one of a second guide rail 12 after the slider 22 was passed through a slit 21 of the third guide rail 13. It is here good for an installation part 27 of the third guide rail 13 and the slit 21 to be formed as the base 2 and the slit 21 make orthogonal.
- FIG.8 shows a case that an angle ⁇ , which the slit 21 and the installation part 27 make, becomes 90 degrees, it can prevent the installation part 27 from protruding much toward a lower side of the base 2 if the angle ⁇ is designed so as to be over 90 degrees during rotation of the third guide rail 13.
- the slit 21 had better be inclined toward the outside as the slider 22 slides smoothly.
- these guide rails may be installed on the base 2 in a shape of a nest, or they may be installed on the base 2 alternatively.
- the guide rail rotates centering around the rotation axis 6, the guide rail pushes and pulls the indication bar 3. Therefore, the rotor 1 also rotates only with the same rotation angle as one of the guide rail, centering around the rotation axis 6.
- a rotor 1 rotated centering around an extension line of the indication bar 3 an angle made by these guide rails becomes big or small according to a rotation direction.
- the rotor 1 can also rotate centering around an extension line of the indication bar 3.
- the rotor 1 here can rotate within a range of 0 degree to 180 degrees for these guide rails. In a case of using only the difference of rotation angles of these guide rails, however, a rotation angle can be specified within only a range of 0 degree to 90 degrees.
- both of these guide rails are similar to a shape like FIG.4, these guide rails are installed on a base 2 in a shape of a nest, and an outer guide rail can step over an indication bar 3. Only in this case, a rotation angle can be specified within a range of 0 degree to 180 degrees.
- a problem that a gap of these guide rails varies happens according to a position of an indication bar 3 even though the difference of rotation angles of these guide rails is constant. If such a change can be corrected by using a computer system and so on, there are no serious problems. Otherwise, a certain compensation means is desired.
- a third guide rail 13 bent like a shape of a character, bracket is used, as shown in FIG.9. Note that a second guide rail 12 is also bent in a shape of a character, bracket, similarly.
- an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 1 has a first guide rail 11, and a second guide rail 12 and a third guide rail 13 which are orthogonal.
- all shafts 4 are installed on a base 2.
- the second guide rail 12 and the third guide rail 13 are installed on the base 2 alternatively.
- these guide rails are installed on the base 2 in a shape of a nest. Since some sliders 22 as shown in FIG.21 are used in FIG.1 and FIG.2, a first guide rail 11 is installed at the inside of the second guide rail 12 and the third guide rail 13.
- At least one of the shafts 4 may be installed on or formed as either one terminal of a first guide rail 11, a second guide rail 12 and a third guide rail 13.
- at least one bearing 5 is installed on a position of at least one shaft 4 to be installed on the base 2.
- a ball bearing is used for a bearing 5 installed on the base 2.
- an enforcement form of a rotation system with three degree of freedom for an invention described in claim 12 shows effect when a second guide rail 12 and a third guide rail 13 are alternative.
- an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 13 shows effect when a second guide rail 12 and a third guide rail 13 are in a shape of a nest.
- a fourth guide rail 14 bent in a shape of an arc along a surface of a rotor 1 is installed on an indication bar 3.
- a slit 21 is opened in the fourth guide rail 14 and a slider 22 slides in the slit 21. Note that both terminals of the slider 22 are processed so as to swell out, or as shown in FIG.13, stoppers 23 are installed on the both terminals. Therefore, the slider 22 does not get out of the slit 21.
- a slider 22 is installed on a cross point of a third guide rail 13 and a fourth guide rail 14.
- inclination of these guide rails is adjusted as an extension line of the slider 22 passes through a center of a rotor 1.
- the slider 22 since the slider 22 always becomes vertical against these guide rails, the slider 22 can slide smoothly in slits 21 of these guide rails. That is, since a first guide rail 11 rotates centering around two corresponding shafts 4, the slider 22 slides in a slit 21 of the third guide rail 13. Therefore, the rotor 1 can also rotate centering around the shafts 4.
- the rotor 1 can also rotate centering around the shafts 4.
- the slider 22 slides in a slit 21 of the fourth guide rail 14, by varying a gap of the second guide rail 12 and the third guide rail 13, the rotor 1 can rotate centering around an indication bar 3.
- a fourth guide rail 14 becomes strong if the fourth guide rail 14 is formed as an umbrella.
- a form of the fourth guide rail 14 may be a whole or a part of the umbrella.
- a pipe slider 25 can slide smoothly along the fourth guide rail 14 by installing a slider 22 on the pipe slider 25.
- the pipe slider 25 bends along the fourth guide rail 14. Therefore, the slider 22 can also slide smoothly in a slit 21 of a third guide rails 13.
- a third guide rail 13 is also in a shape of a bar.
- the pipe sliders 25 can slide smoothly along the guide rails, by rotating freely centering around the concatenation shaft 24.
- the pipe sliders 25 bend along the guide rails, respectively.
- a third guide rail 13 is in a shape of a bar
- a fourth guide rail 14 provides a slit 21.
- a slider 22 installed on the pipe slider 25 can slide smoothly in the slit 21 of the fourth guide rail 14, where the pipe slider 25 bends along the third guide rail 13.
- an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 10 can take out all wires from a rotor 1, without twining at least one wire round all guide rails, by using an indication bar 3 which is in a shape of a pipe.
- these wires comes to an end without adding unnecessary load to all guide rails, by rolling a part of the wires in a shape of a coil. Therefore, since any parts can be installed on the rotor 1, an application area of a rotation system with three degrees of freedom expands widely.
- an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 1 can also slide a pipe slider 25 installed on any place of an indication bar 3 via a concatenation shaft 24 or a bearing along a first guide rail 11 which is in a shape of a bar. Note that the pipe slider 25 bends along the first guide rail 11.
- the indication bar 3 is unstable because a force is added to the indication bar 3 from one direction. It is explained here about a method that forces are added evenly to the indication bar 3 from two opposite directions.
- each slider 22 installed on the indication bar 3 can have any sections, while these parts had better be bent circularly along a surface of a rotor 1.
- terminals of the sliders 22 are in a shape of a bar. An angle made by the terminals is set up 180 degrees or less a little, centering around the indication bar 3.
- the second guide rail 12 is installed on a base 2, similarly to a first guide rail 11, as shown in FIG.23.
- an installation part 27 of the second guide rail 12 and the slit 21 it is here good for an installation part 27 of the second guide rail 12 and the slit 21 to be formed as the base 2 and the slit 21 make orthogonal.
- FIG.22 shows a case that an angle ⁇ , which the slit 21 and the installation part 27 make, becomes 90 degrees, it can prevent the installation part 27 from protruding much toward a lower side of the base 2 if the angle ⁇ is designed so as to be over 90 degrees during ratation of the second guide rail 12.
- the slit 21 had better be inclined toward the outside as the slider 22 slides smoothly.
- FIG.24 suppose that a third guide rail 13 is installed on the base 2, similarly to the second guide rail 12. In this case, these guide rails may be installed on the base 2 in a shape of a nest, or they may be installed on the base 2 alternatively.
- these guide rails also rotate only with the same rotation angle as one of the rotor 1, centering around the rotation axis 6.
- these guide rails push and pull the sliders 22. Therefore, the rotor 1 also rotates only with the same rotation angle as one of these guide rails, centering around the rotation axis 6.
- a rotor 1 rotated centering around an extension line of the indication bar 3 an angle made by these guide rails becomes big or small according to a rotation direction.
- the rotor 1 can also rotate centering around an extension line of the indication bar 3.
- the rotor 1 here can rotate within a range of 0 degree to 180 degrees for these guide rails. In a case of using only the difference of rotation angles of these guide rails, however, a rotation angle can be specified within only a range of 0 degree to 90 degrees. Then, by making an angle made by terminals of the sliders 22 a little smaller than 180 degrees, centering around the indication bar 3, we can stop that the rotor 1 rotates over 90 degrees even though the gap of these guide rails became the biggest.
- each slider 22 passes through these slits 21 from the outside of a second guide rail 12 and a third guide rail 13.
- an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 4 has a first guide rail 11, and a second guide rail 12 and a third guide rail 13, which are orthogonal.
- all shafts 4 are installed on a base 2.
- the second guide rail 12 and the third guide rail 13 are installed on the base 2 alternatively.
- these guide rails are installed on the base 2 in a shape of a nest. Since two sliders 22 as shown in FIG.21 are used in FIG.26 and FIG.27, a first guide rail 11 is installed at the inside of the second guide rail 12 and the third guide rail 13. The reason is that it prevents terminals of the sliders 22 from getting caught on the first guide rail 11. Therefore, in a case that two sliders 22 as shown in FIG.25 were used, a first guide rail 11 had better be installed at the outside of the second guide rail 12 and the third guide rail 13.
- At least one of the shafts 4 may be installed on or formed as either one terminal of a first guide rail 11, a second guide rail 12 and a third guide rail 13.
- at least one bearing 5 is installed on a position of at least one shaft 4 to be installed on the base 2.
- a ball bearing is used for a bearing 5 installed on the base 2.
- an enforcement form of a rotation system with three degree of freedom for an invention described in claim 12 shows effect when a second guide rail 12 and a third guide rail 13 are alternative.
- an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 13 shows effect when a second guide rail 12 and a third guide rail 13 are in a shape of a nest.
- a fourth guide rail 14 and a fifth guide rail 15 bent in a shape of an arc along a surface of a rotor 1 is installed on an indication bar 3.
- these guide rails may be made from a plate, or each guide rail may be installed on the indication bar 3.
- Slits 21 are opened in these guide rails, respectively, and a slider 22 slides in each slit 21. Note that both terminals of each slider 22 are processed so as to swell out, or as shown in FIG.28, stoppers 23 are installed on the both terminals. Therefore, the sliders 22 do not get out of the slits 21.
- first guide rail 11 and a second guide rail 12 share a bearing 5 at each of both terminals of them, and are installed on the corresponding shafts 4.
- these guide rails are bent in a shape of an arc along a surface of a rotor 1.
- these guide rails are adhered or made from a plate so as to make a part of these guide rails bent in a shape of an arc vertical against a base 2 Therefore, these guide rails become parallel.
- a first guide rail 11 overlaps a cross point of a second guide rail 12 and a fifth guide rail
- a sixth guide rail 16 overlaps a cross point of a third guide rail 13 and a fourth guide rail 14
- a slider 22 is installed on each cross point.
- sliders 22 may be installed on the cross point of the second guide rail 12 and the fourth guide rail 14, and the cross point of a third guide rail 13 and the fifth guide rail 15, respectively.
- inclination of these guide rails is adjusted as extension lines of the sliders 22 pass through a center of a rotor 1.
- the sliders 22 since the sliders 22 always become vertical against these guide rails, the sliders 22 can slide smoothly in slits 21 of these guide rails. That is, since the fifth guide rail 15 and the fourth guide rail 14 rotate centering around the corresponding shafts 4, the sliders 22 slide in a slit 21 of the second guide rail 12 and a slit 21 of the third guide rail 13, respectively. Therefore, the rotor 1 can also rotate centering around the shafts 4. In addition, since the second guide rail 12 and the third guide rail 13 rotate centering around the corresponding shafts 4, the sliders 22 slide in a slit 21 of the fifth guide rail 15 and a slit 21 of the fourth guide rail 14, respectively. Therefore, the rotor 1 can also rotate centering around the shafts 4.
- the sliders 22 slide in the fifth guide rail 15 and the fourth guide rail 14, respectively, by varying a gap of the second guide rail 12 and the third guide rail 13, the rotor 1 can rotate centering around an indication bar 3.
- the sliders 22 slide in a slit 21 of the first guide rail 11 and a slit 21 of the sixth guide rail 16, respectively. Therefore, the rotor 1 can rotate centering around an indication bar 3.
- the slits 21 overlap triply at a place of each slider 22. Therefore, in a case that at least one of these guide rails rotates centering around shafts 4, respectively, load is charged for only a part of the sliders 22.
- the guide rails thus, are possible to bend. It is explained here about a method of controlling distortion of these guide rails.
- a fourth guide rail 14 and a fifth guide rail 15 are formed in a shape of an umbrella. Therefore, terminals of the guide rails do not bend. This method is the simplest, and extremely effective because it can control distortion of other guide rails together.
- a first guide rail 11 overlaps a cross point of a second guide rail 12 and a fifth guide rail
- a sixth guide rail 16 overlaps a cross point of a third guide rail 13 and a fourth guide rail 14.
- sliders 22 are installed on the cross point of the second guide rail 12 and the first guide rail 11, and the cross point of a third guide rail 13 and the first guide rail 11, the cross point of the second guide rail 12 and the sixth guide rail 16, and and the cross point of a third guide rail 13 and the sixth guide rail 16, respectively.
- inclination of these guide rails is adjusted as extension lines of the sliders 22 pass through a center of a rotor 1.
- an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 7 rotates independently a first guide rail 11 and a sixth guide rail 16, respectively. Therefore, by rotating a first guide rail 11, a second guide rail 12, a third guide rail 13 and a sixth guide rail 16 finely, the rotation system with three degrees of freedom can rotate a rotor 1 with three degrees of freedom, without bending all guide rails.
- a first guide rail 11, a second guide rail 12, a third guide rail 13 and a sixth guide rail 16 rotate independently. Therefore, forces added to these guide rails via two sliders 22 can be distributed.
- each slider 22 has a pipe slider 25, and these guide rails pass through the pipe sliders 25, respectively. Since each pipe slider 25 installs at least one roll body at the inside of it, the pipe sliders 25 can slide smoothly along the guide rails, respectively. Note that the pipe sliders 25 are processed in a shape of an arc along these guide rails. Therefore, when a gap of these guide rails is big, the sliders 22 slide along a first guide rail 11 and a sixth guide rail 16, respectively.
- the sliders 22 slide along a fifth guide rail 15 and a fourth guide rail 14.
- a rotor 1 rotates clockwisely.
- the pipe sliders 25 show effect similar to two concatenation shafts 26, as shown in FIG.31, Therefore, the guide rails do not bend.
- a fourth guide rail 14 and a fifth guide rail 15 can be processed in a shape of an umbrella.
- an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 10 can take out all wires from a rotor 1, without twining at least one wire round all guide rails, by using an indication bar 3 which is in a shape of a pipe.
- these wires comes to an end without adding unnecessary load to all guide rails, by rolling a part of the wires in a shape of a coil. Therefore, since any parts can be installed on the rotor 1, an application area of a rotation system with three degrees of freedom expands widely.
- each encoder 31 can be arranged toward any direction. Moreover, by adjusting a gear ratio, the encoders 31 can rotate with a little torque. Note that, instead of a gear 32, a crank or a cam can be used.
- an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 15 can arrange each encoder 31 at any place.
- two Bevel gear 32 concatenate between each guide rail and the corresponding encoder 31 in FIG.39
- a Spur gear a cylindrical gear and a Worm gear
- a crank or a cam instead of a gear 32, a crank or a cam also can be used.
- any encoders 31 do not move together with a rotor 1 even though the rotor 1 rotates with three degrees of freedom.
- the encoders 31 can be fixed easily to a base 2 and a case. Therefore, a user of the present invention can design a rotation system with three degree of freedom easily.
- an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 16 carries an actuator for each of at least one encoder 31. Therefore, the present invention not only detect rotation angles of three degrees of freedom of the rotor 1 but also can rotate the rotor 1 with three degrees of freedom.
- the present invention thus, is also suitable for an application so as to take a picture of any place, specifying a location taking a picture, like a moving camera which carries a camera 41 in the rotor 1.
- an enforcement form of an artificial eye for an invention described in claim 21 is a rotation system with three degrees of freedom whose rotor 1 a camera 41 is embedded in.
- the camera 41 is appeared by slashes, moreover all guide rails except a first guide rail 11 are omitted.
- a lens 42 of the camera 41 turns to a direction opposite to an indication bar 3, and the camera 41 is embedded in the rotor 1 as an optical axis 43 of the lens 42 passes through the indication bar 3.
- the computer system can derive a direction of the optical axis 43 easily.
- a rotation system with three degrees of freedom rotates a rotor 1 up to about 90 degrees, centering around an indication bar 3.
- a camera 41 embedded in the rotor 1 also can rotate only up to about 90 degrees, centering around an optical axis 43 of the camera 41. It is explained here about a method rotating an image taken by the camera 41 with any angle.
- an image taken by a camera 41 embedded in a rotor 1 is once memorized by a computer system.
- each pixel of the image is memorized by turns in a memory of the computer system.
- any kind of image processing like gamma correction is also carried out for these pixels.
- the computer system outputs these pixels by turns as the image rotates every 90 degrees. Note that the computer system has only to read these pixels in a specific order from either of four corners of the image because these pixels are memorized by turns in the memory. In short, the computer system does not have to perform affine transform. Therefore, the computer system can rotate the image every 90 degrees, only by reading and writing these pixels for the memory.
- the computer system rotates a camera 41 up to about 90 degrees by using a rotation system with three degrees of freedom.
- a rotation system with three degrees of freedom.
- an image taken by the camera 41 can be rotated within almost 360 degrees.
- power consumption does not vary even though the image is rotated at any angle. Therefore, this is suitable for equipments like a cell phone, in which low power consumption is desired.
- three rotation angles of a rotor 1 can be specified in spite of rotating the rotor 1 with three degrees of freedom.
- an indication bar 3 can be moved so as to turn to a specific direction and to coincide with a specific rotation angle centering around the indication bar 3. Therefore, the rotor 1 also can be rotated in a suitable direction.
- these guide rails are connected with a base 2 via shafts 4 and bearings 5, respectively. That is, a base 2 itself does not have to rotate in order to rotate a rotor 1 in a specific direction, like a traditional moving system with three degrees of freedom. Therefore, a manufacturer of the present invention can make a rotation system with three degrees of freedom, by using a little number of parts, by a simple and small structure and cheaply.
- all wires can be taken out to an external part, by passing the wires through an indication bar 3.
- the wires may be electric cables 44.
- three rotation angles of a rotor 1 can be detected by combining output results of three encoder 31. Therefore, in a case that a user of the present invention rotated the rotor 1 like a trackball, the present invention can detect rotation angles of the rotor 1. In addition, in a case that a user of the present invention rotated an indication bar 3 like a joy stick, the present invention can also detect rotation angles of the indication bar 3. Moreover, even in a case of rotating the rotor 1 by using a traditional actuator with multi degrees of freedom, the present invention can detect rotation angles of the rotor 1.
- the present invention is very effective for a moving camera and an artificial eye.
- a joy stick was made by using the present invention, suppose that a user of the joy stick controls the moving camera from a remote place, while a direction of the moving camera is reflected to the joy stick. In this case, the user can realize bi-directional interface, by which he can experience a direction of the moving camera.
- a rotor 1 can be rotated according to rotation angles of three actuators, by rotating them independently, respectively. Therefore, a user of the present invention can use the present invention for a platform.
- a source of light on the rotor 1
- a user of the present invention can use the present invention for a search light.
- a mirror on the rotor 1 a user of the present invention can use the present invention for an electric back mirror and an electric side mirror.
- a stepping motor for an actuator moreover by embedding a camera 41 in the rotor 1, a user of the present invention can use the present invention for a moving camera and an artificial eye.
- an indication bar 3 as a pipe, signal lines of the camera 41 can be taken out from the rotor 1 easily. Therefore, the present invention is very effective for the moving camera and the artificial eye.
- an artificial eye can control a direction of an optical axis 43 of the camera 41 with three degrees of freedom without increasing a volume of the rotor 1, by using a computer system. Therefore, a designer of a cell phone can carry the artificial eye in the cell phone with which a miniaturization is called for.
- an artificial eye can rotate an image taken by a camera 41 with any angle without using a special image processing like affine transform and so on. That is, even though a size of the image became big, the artificial eye does not have to consume too much power, in order to rotate the image with any angle. Therefore, a designer of a cell phone can carry the artificial eye in the cell phone with which a low power consumption is called for.
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
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Abstract
Description
- The present invention relates to a rotation system with three degrees of freedom, using at least three guide rails, wherein one of the guide rails and two other guide rails are installed on a base so as to be orthogonal to each other, an indication bar is installed on a rotor, and at least one slider is installed on the indication bar, which detect a direction of the rotor by rotating the guide rails, sliding along the guide rails, and rotate the rotor by rotating the guide rails by actuators.
- Many motors with three degrees of freedom like ones using a piezoelectric element (refer to Published Unexamined Japanese Patent Application No. S62-228392, Published Unexamined Japanese Patent Application No. H09-34409, Published Unexamined Japanese Patent Application No. H09-219980, Published Unexamined Japanese Patent Application No. H11-18459 and PCT Publication Number WO 02/15358), ones using a synchronous motor (refer to Tomoaki Yano, Makoto Kaneko, "Basic Consideration of Actuators with Multi Degrees of Freedom Having an Identical Center of Rotation", Journal of Robotics Society of Japan, Vol.11, No.6, pp.875-882, 1993), ones using a stepping motor (refer to Tomoaki Yano, Takeo Suzuki, Masuo Sonoda, Makoto Kaneko, "An Actuator with Three Degrees of Freedom Having an Identical Center of Rotation (4th Report) Development of a Stepping Motor and its Basic Experiments", Proceedings of Robotics and Mechatronics, No.E307, pp.1210-1211, The Japan Society of Mechanical Engineers, 1994), and ones using an electromagnet (refer to Published Unexamined Japanese Patent Application No. S62-221856, Published Unexamined Japanese Patent Application No. H05-64417 and Published Unexamined Japanese Patent Application No. H09-168275) have been developed. In a case of detecting angles of three rotation axes by using three encoders, however, it is necessary for at least one encoder to be rotated together with a motor. Therefore, not only they must make their structure more complex, but also they must make torque of their motor more bigger than a desired amount. Moreover, they can decide a precise position in a case of using some stepping motors. However, even though they do not use the encoders, they have to rotate at least one stepping motor centering around at least one rotation axis. Therefore, as a position detection method for transfer organization with multi degrees of freedom, one using an acceleration detector (refer to Published Unexamined Japanese Patent Application No. H05-64417 and Published Unexamined Japanese Patent Application No. H09-168275), one using an electromagnet (refer to Tomoaki Yano, Makoto Kaneko, "An Actuator with Multi Degrees of Freedom Having an Identical Center of Rotation (6th Report) Position Control of the Multi-Pole Synchronous Motor", 12th meeting of Robotic Society, No.1354, pp.193-194, 1994), and so on have also been developed. However, there are the following problems about these methods: For example, in a case of using an acceleration detector, their accuracy of a position becomes worse as time goes by because of accumulation of errors even though their structure is simple and can detect for all of three degrees of freedom without limit. In addition, in a case of using an electromagnet, weight of a device itself becomes heavy, a part detecting a line of magnetic force is desired, and the line of magnetic force has a bad influence on some electronic parts.
- For applications of a motor with multi degrees of freedom, now, we can consider many cases that it has only to rotate freely within a specific range, for example, like a moving camera and a back mirror, besides a case of rotating endlessly around three rotation axes. Here, rotation with three degrees of freedom can be realized by using a spherical surface bearing if it is not necessary to drive like a motor (for example, refer to Published Unexamined Japanese Patent Application No. H07-317758, Published Unexamined Japanese Patent Application No. H09-166135 and Published Unexamined Japanese Patent Application No. 2000-304039). Therefore, it can detect rotation angles up to 180 degrees around two rotation axes, by installing an indication bar on a rotor of the spherical surface bearing, moreover by rotating two orthogonal guide rails by using the indication bar. This method, however, can not only detect an inclination angle of the rotor rotating centering around the indication bar, but also stop rotation of the rotor centering around the indication bar. Suppose then that a new guide rail is installed as it becomes parallel for either one of two guide rails. In this case, if a slider installed on the indication bar moves parallel along to the new guide rail, the guide rail can always keep inclination of the rotor constantly, without almost making an action range of two rotation axes narrow. In addition, for some applications like a moving camera and a back mirror, it is seldom necessary to rotate the rotor 360 degrees, centering around the indication bar. Therefore, if inclination of the rotor can be fine-tuned, a motor with multi degrees of freedom is practical enough. If the slider can slide along one of two guide rails which are parallel even though a gap between these guide rails varies, these guide rails can detect inclination of the rotor up to 180 degrees.
- Considering these facts, since a guide rail and two guide rails which are parallel are combined so as to be orthogonal with each other, the number of rotation axes of these guide rails is two, where three encoders are desired to detect each rotation angle of the guide rails. In short, since it is not necessary for these encoders to move according to rotation of a rotor, the rotor comes to be able to detect rotation angles of three rotation axes easily. Of course, the rotor comes to be able to rotate independently around three rotation axes, by rotating these guide rails by actuators.
- In the present invention described in claims, a rotation system with three degrees of freedom is developed, where one guide rail and two guide rails which are parallel are combined so as to be orthogonal, moreover some encoders installed on a base detect rotation angles of these guide rails. In addition, in the present invention described in claims, a rotation system with three degrees of freedom, which rotates these guide rails by using actuators installed on a base, is also developed.
- The invention described in
claim 1 is a rotation system with three degrees of freedom comprising a rotor comprising a part or a whole of a sphere, an indication bar, at least one slider, at least one base, four shafts, six bearings, and three first to third guide rails, wherein said rotor includes said indication bar, said first guide rail is installed on said base by using two said shafts and two said bearings, said second guide rail and said third guide rail are installed on said base by using two remaining said shafts and four remaining said bearings, and at least one said slider is installed on or concatenated with said indication bar, moreover wherein said rotor rotates centering around two said shafts supporting said first guide rail, sliding said indication bar along said first guide rail, said rotor rotates centering around two said shafts supporting said first guide rail, sliding said indication bar along said second guide rail, and said rotor rotates centering around said indication bar, sliding at least one said slider along said third guide rail. - The present invention is an enforcement form of a rotation system with three degrees of freedom, said rotor of which rotates with three degrees of freedom. In the present invention, said first guide rail, said second guide rail and said third guide rail are formed in a shape of an arc, centering around said rotor mainly. Said rotor rotates according to rotation of these said guide rails, while these said guide rails rotate according to rotation of this said rotor. Each of these said guide rails may be in a shape of a bar, or may have a slit. In particular, in a case that each of these said guide rails has this said slit, this said guide rail may be cut out from a plate, or may be constructed by combining with at least two wires. Said indication bar is installed on said rotor in a direction passing through a center of this said rotor on an extension line of this said indication bar. Here, this said indication bar may be in a shape of a pipe. Moreover, this said rotor may be hollow. Four said shafts may be fixed to any of said first guide rail, said second guide rail, said third guide rail and at least one said base. Moreover, in a case that these said shafts are fixed to said bases, these said shafts may be installed on these said bases via spacers. Note that two rotation axes connecting to two pairs of said shafts are orthogonal, and pass through a center of this said rotor, respectively. A ball bearing also can be used for said bearing. Since said first guide rail rotates centering around two said shafts, a direction of said indication bar coincides with a direction of this said guide rail. Therefore, said rotor rotates centering around these said shafts according to said direction of this said guide rail. Said second guide rail and said third guide rail rotate centering around the same two said shafts, respectively. However, since two said bearings are installed on each of these said shafts, these said guide rails can rotate independently, respectively. Moreover, here, these guide rails may be in a shape of a nest or may be alternative. In addition, both terminals of said third guide rail are formed as a part in a shape of an arc of this said guide rail and said base become orthogonal. Therefore, in a case that this said guide rail makes a specific angle centering around a rotation axis passing through these said shafts, a gap of this said guide rail and said second guide rail keeps constant in spite of a place. At least one said slider slides along said third guide rail. Therefore, when said gap of these guide rails becomes big, an angle made by a line, which passes through this said slider and said indication bar, and these said guide rails approaches to 90 degrees. Oppositely, when said gap of these guide rails becomes small, an angle made by this said line and these guide rails approaches to 0 degree. By varying said gap of these guide rails, thus, a rotation angle of said rotor centering around an indication bar can be changed. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- The invention described in
claim 2 is a rotation system with three degrees of freedom according toclaim 1, wherein said indication bar passes through slits, which are opened in at least one of said first guide rail and a second guide rail. Said first guide rail and said second guide rail may be cut out from a plate, respectively, or may be constructed by combining at least two wires. Said first guide rail rotates centering around two said shafts. Therefore, since said indication bar passes through said slit opened in this guide rail, a direction of this said indication bar coincides with a direction of this said guide rail. Said second guide rail rotates centering around two remaining said shafts. Therefore, since this said indication bar passes through said slit opened in this guide rail, a direction of this said indication bar coincides with a direction of this said guide rail. By detecting a direction of these guide rails, thus, a direction of this said indication bar is derived precisely. Since a direction of said indication bar can be decided without spending time and effort too much, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in
claim 3 is a rotation system with three degrees of freedom according toclaim - The invention described in
claim 4 is a rotation system with three degrees of freedom comprising a rotor comprising a part or a whole of a sphere, an indication bar, at least two sliders, at least one base, four shafts, six bearings, and three first to third guide rails, wherein said rotor comprises said indication bar, said first guide rail is installed on said base by using two said shafts and two said bearings, said second guide rail and said third guide rail are installed on said base by using two remaining said shafts and four remaining said bearings, and at least two said sliders are installed on or concatenated with said indication bar, moreover wherein said rotor rotates centering around two said shafts supporting said first guide rail, sliding said indication bar along said first guide rail, said rotor rotates centering around two said shafts supporting said second guide rail and said third guide rail, sliding at least two said sliders along these guide rails, and said rotor rotates centering around said indication bar, sliding at least two said sliders along said second guide rail and said third guide rail. - The present invention is an enforcement form of a rotation system with three degrees of freedom, said rotor of which rotates with three degrees of freedom. In the present invention, said first guide rail, said second guide rail and said third guide rail are formed in a shape of an arc, centering around said rotor mainly. Said rotor rotates according to rotation of these said guide rails, while these said guide rails rotate according to rotation of this said rotor. Each of these said guide rails may be in a shape of a bar, or may have a slit. In particular, in a case that each of these said guide rails has this said slit, this said guide rail may be cut out from a plate, or may be constructed by combining with at least two wires. Said indication bar is installed on said rotor in a direction passing through a center of this said rotor on an extension line of this said indication bar. Here, this said indication bar may be in a shape of a pipe. Moreover, this said rotor may be hollow. Four said shafts may be fixed to any of said first guide rail, said second guide rail, said third guide rail and at least one said base. Moreover, in a case that these said shafts are fixed to said bases, these said shafts may be installed on these said bases via spacers. Note that two rotation axes connecting to two pairs of said shafts are orthogonal, and pass through a center of this said rotor, respectively. A ball bearing also can be used for said bearing. Since said first guide rail rotates centering around two said shafts, a direction of said indication bar coincides with a direction of this said guide rail. Therefore, said rotor rotates centering around these said shafts according to said direction of this said guide rail. Said second guide rail and a third guide rail rotate centering around the same two said shafts, respectively. However, since two said bearings are installed on each of these said shafts, these said guide rails can rotate independently, respectively. Moreover, here, these guide rails may be in a shape of a nest or may be alternative. In addition, both terminals of these said guide rails are formed as a part in a shape of an arc of each of these said guide rails and said base become orthogonal. Therefore, in a case that these said guide rails make a specific angle centering around a rotation axis passing through these said shafts, a gap of these said guide rails keeps constant in spite of a place. At least two said sliders are installed on or connected with said indication bar so as to face with each other, and slide along these said guide rails, respectively. Therefore, when said gap of these guide rails becomes big, an angle made by these said sliders and these said guide rails approaches to 90 degrees. Oppositely, when said gap of these guide rails becomes small, an angle made by these said sliders and these guide rails approaches to 0 degree. By varying said gap of these guide rails, thus, a rotation angle of said rotor centering around said indication bar can be changed. In addition, suppose that positions of these said sliders are adjusted as this said indication bar is located at a center of said gap of these said guide rails. In this case, since a direction of this said indication bar coincides with said direction of said center of said gap of these said guide rails, said rotor rotates centering around two said shafts supporting these said guide rails, according to this said direction. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- The invention described in
claim 5 is a rotation system with three degrees of freedom according toclaim 4, wherein said indication bar passes through a slit, which is opened in said first guide rail. Said first guide rail may be cut out from a plate, or may be constructed by combining at least two wires. Said first guide rail rotates centering around two said shafts. Therefore, since said indication bar passes through said slit opened in this guide rail, a direction of this said indication bar coincides with a direction of this said guide rail. By detecting a direction of this guide rail, thus, a rotation angle of this said indication bar centering around two said shafts supporting this said guide rail is derived precisely. Since a direction of said indication bar can be decided without spending time and effort too much, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in
claim 6 is a rotation system with three degrees of freedom according toclaim - The invention described in
claim 7 is a rotation system with three degrees of freedom comprising a rotor comprising a part or a whole of a sphere, an indication bar, at least two sliders, at least one base, four shafts, six bearings, and four first to third and sixth guide rails, wherein said rotor comprises said indication bar, said first guide rail and said sixth guide rail are installed on said base by using two said shafts and two said bearings, said second guide rail and said third guide rail are installed on said base by using two remaining said shafts and four remaining said bearings, and at least two said sliders are installed on or concatenated with said indication bar, moreover wherein said rotor rotates centering around two said shafts supporting said first guide rail and said sixth guide rail, sliding at least two said sliders along these said guide rails, said rotor rotates centering around two said shafts supporting said second guide rail and said third guide rail, sliding at least two said sliders along these guide rails, and said rotor rotates centering around said indication bar, sliding at least two said sliders along said second guide rail and said third guide rail. - The present invention is an enforcement form of a rotation system with three degrees of freedom, said rotor of which rotates with three degrees of freedom. In the present invention, said first guide rail, said second guide rail, said third guide rail and said sixth guide rail are formed in a shape of an arc, centering around said rotor mainly. Said rotor rotates according to rotation of these said guide rails, while these said guide rails rotate according to rotation of this said rotor. Note that said first guide rail and said sixth guide rail are connected, or are made from one material originally. Each of these said guide rails may be in a shape of a bar, or may have a slit. In particular, in a case that each of these said guide rails has this said slit, this said guide rail may be cut out from a plate, or may be constructed by combining with at least two wires. Said indication bar is installed on said rotor in a direction passing through a center of this said rotor on an extension line of this said indication bar. Here, this said indication bar may be in a shape of a pipe. Moreover, this said rotor may be hollow. Four said shafts may be fixed to any of said first guide rail, said second guide rail, a third guide rail and at least one said base. Moreover, in a case that these said shafts are fixed to said bases, these said shafts may be installed on these said bases via spacers. Note that two rotation axes connecting to two pairs of said shafts are orthogonal, and pass through a center of this said rotor, respectively. A ball bearing also can be used for said bearing. Since said first guide rail and said sixth guide rail rotate together centering around two said shafts, a direction of said indication bar coincides with a direction of this said guide rail, by adjusting positions of these guide rails as this said indication bar is located at a center of a gap of these said guide rails. Therefore, said rotor rotates centering around these said shafts according to this said direction. Said second guide rail and a third guide rail rotate centering around the same two said shafts, respectively. However, since two said bearings are installed on each of these said shafts, these said guide rails can rotate independently, respectively. Moreover, here, these guide rails may be in a shape of a nest or may be alternative. In addition, both terminals of these said guide rails are formed as a part in a shape of an arc of each of these said guide rails and said base become orthogonal. Therefore, in a case that these said guide rails make a specific angle centering around a rotation axis passing through these said shafts, a gap of these said guide rails keeps constant in spite of a place. At least two said sliders are installed on or connected with said indication bar so as to face with each other, and slide along these said guide rails, respectively. Therefore, when said gap of these guide rails becomes big, an angle made by these said sliders and these said guide rails approaches to 90 degrees. Oppositely, when said gap of these guide rails becomes small, an angle made by these said sliders and these guide rails approaches to 0 degree. By varying said gap of these guide rails, thus, a rotation angle of said rotor centering around an indication bar can be changed. In addition, suppose that positions of these said sliders are adjusted as this said indication bar is located at a center of said gap of these said guide rails. In this case, since a direction of this said indication bar coincides with said direction of said center of said gap of these said guide rails, said rotor rotates centering around two said shafts supporting these said guide rails, according to this said direction. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- The invention described in claim 8 is a rotation system with three degrees of freedom according to
claim 7, wherein at least two said sliders pass through slits, respectively, which are opened in said first guide rail and said sixth guide rail. Said first guide rail and said sixth guide rail may be cut out from a plate, respectively, or may be constructed by combining at least two wires. Note that these said guide rails rotates together centering around two said shafts. These said guide rails rotate centering around these said shafts. Therefore, since at least two said sliders pass through said slits opened in these guide rails, respectively, moreover said indication bar is located at a center of these said sliders, a direction of this said indication bar coincides with a direction of these said guide rails. By detecting a direction of these guide rails, thus, a rotation angle of this said indication bar centering around two said shafts supporting these said guide rails is derived precisely. Since a direction of said indication bar can be decided without spending time and effort too much, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in claim 9 is a rotation system with three degrees of freedom according to
claim 7 or 8, wherein a fourth guide rail and a fifth guide rail are installed on said indication bar, and two said sliders slide along these said guide rails, respectively. Said fourth guide rail and said fifth guide rail may be in a shape of a bar, or may have a slit. In particular, in a case that these said guide rails have this said slit, these said guide rails may be cut out from a plate, or may be constructed by combining with at least two wires. Suppose moreover that these said guide rails are in a shape of an umbrella, by combining with each other. In this case, these said guide rails can increase the strength. These said guide rails rotate centering around said indication bar. Therefore, since at least two said sliders slide along these said guide rails, a rotation direction of this said indication bar coincides with a direction of at least one said slider viewed from this said indication bar. By detecting a direction of this said indication bar and a direction of these guide rails, thus, a rotation direction of this said indication bar is derived precisely. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in claim 10 is a rotation system with three degrees of freedom according to any one of
claims 1 to 9, wherein said indication bar is a pipe, and at least one wire passes through said indication bar. In the present invention, said rotor is said sphere or a part of this said sphere, where an internal part of this said sphere may be hollow. An electronic part or a mechanical part is installed on said rotor, and at least one said wire is connected with this said electronic part and this said mechanical part. Note that at least one of these said wires connected with this said electronic part is an electric cable. Therefore, these said wires can be taken out to an external part without twining them round all guide rails. Since all said wires can be taken out from said rotor in spite of a direction of this said rotor, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in
claim 11 is a rotation system with three degrees of freedom according to any one ofclaims 1 to 10, wherein all said shafts are installed on at least one said base so as to face with each other every two shafts. Four said shafts may be embedded in said base, may be cut out from at least one said base or may be installed on it via spacers. Note that two rotation axes connecting to two pairs of said shafts are orthogonal, and pass through a center of said rotor, respectively. Each said bearing is installed on or formed at both terminals of said second guide rail and a third guide rail, respectively, moreover is connected to two corresponding said shafts, respectively. Therefore, these said guide rails can rotate independently, respectively. Two said bearings are installed on or formed at both terminals of at least one of said first guide rail, said fourth guide rail and said fifth guide rail, and are connected to two corresponding said bearings, respectively. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in
claim 12 is a rotation system with three degrees of freedom according to any one ofclaims 1 to 10, wherein four said bearings are installed on at least one said base so as to face with each other every two shafts, two said shafts installed on a terminal of said second guide rail and said third guide rail are installed on two said bearings installed on said base, respectively, and two said bearings installed on another terminal of said second guide rail and said third guide rail are installed on said shafts of said third guide rail and said second guide rail, respectively. Four said bearings may be formed from at least one said base or may be installed on it via spacers. Note that two rotation axes connecting two pairs of said shafts connected to these said bearings are orthogonal, and pass through a center of said rotor, respectively. Each said shaft is installed on or formed at said terminal of said second guide rail and a third guide rail, respectively, moreover is connected to two corresponding said bearings, respectively. In addition, said bearings are installed on or formed at either one of both terminals, which does not have said shaft, and corresponding said shafts penetrate. Therefore, these said guide rails can rotate independently, respectively. Two said shafts are installed on or formed at both terminals of at least one of said first guide rail, said fourth guide rail and said fifth guide rail, moreover are connected to two corresponding said bearings, respectively. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in
claim 13 is a rotation system with three degrees of freedom according to any one ofclaims 1 to 10, wherein four said bearings are installed on at least one said base so as to face with each other every two shafts, two said shafts installed on both terminals of said second guide rail are installed on two said bearings installed on said base, respectively, and two said bearings installed on both terminal of said third guide rail are installed on said shafts of said second guide rail, respectively. Four said bearings may be formed from at least one said base or may be installed on it via spacers. Note that two rotation axes connecting two pairs of said shafts connected to these said bearings are orthogonal, and pass through a center of said rotor, respectively. Each said shaft is installed on or formed at both said terminals of said second guide rail, respectively, moreover is connected to two corresponding said bearings, respectively. In addition, said bearings are installed on or formed at both said terminals of said third guide rail, respectively, and corresponding said shafts penetrate. Therefore, these said guide rails can rotate independently, respectively. Two said shafts are installed on or formed at both terminals of at least one of said first guide rail, said fourth guide rail and said fifth guide rail, moreover are connected to two corresponding said bearings, respectively. Since said rotor can be rotated with three degrees of freedom without moving all said bases, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in
claim 14 is a rotation system with three degrees of freedom according to any one ofclaims 1 to 13, wherein at least one encoder detects a direction of said rotor, by detecting at least one rotation angle of said guide rails, said shafts and said bearings. By detecting at least one said rotation angle of said guide rails, said shafts and said bearings, said encoder can detect said rotation angle of a corresponding said guide rail. Here, said encoder may be fixed directly to at least one said base, or may be connected to these said bases via spacers and a case. Even in a case of using three said encoders, since a direction of said rotor can be detected without moving these said encoders, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in
claim 15 is a rotation system with three degrees of freedom according toclaim 14, wherein at least one encoder detects said direction of said rotor, by concatenating it to at least one of said guide rails, said shafts and said bearings via plurality of gears. A Bevel gear, a Spur gear, a cylindrical gear and a Worm gear can be used for plurality of said gears. Said rotation angle of said guide rail can be detected finely by combining these said gears. Note that a center of at least one of these said gears is installed so as to overlap said shaft corresponding to this said guide rail. Even in a case of using three said encoders, since a direction of said rotor can be detected finely without moving these said encoders, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in
claim 16 is a rotation system with three degrees of freedom according to claim 14 or 15, wherein each of at least one said encoder comprises an actuator. Suppose that one said encoder and one said actuator share the same rotor element. In this case, this said actuator can change said rotation angle of said guide rail, according to said rotation angle of this said guide rail detected by this said encoder. Even in a case of using three said encoders and three said actuators, since a direction of said rotor can be detected finely without moving these said encoders and these said actuators, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in claim 17 is a rotation system with three degrees of freedom according to any one of
claims 1 to 13, wherein at least one actuator rotates said rotor, by rotating at least one of said guide rails, said shafts and said bearings. By rotating at least one of said guide rails, said shafts and said bearings centering around said shafts, said actuator can rotate a corresponding said guide rail. Here, said actuator may be fixed directly to at least one said base, or may be connected to these said bases via spacers and a case. Even in a case of using three said actuators, since said rotor can be rotated with three degrees of freedom without moving these said actuators, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in claim 18 is a rotation system with three degrees of freedom according to claim 17, wherein at least one actuator rotates said rotor, by concatenating it to at least one of said guide rails, said shafts and said bearings via plurality of gears. A Bevel gear, a Spur gear, a cylindrical gear and a Worm gear can be used for plurality of said gears. Said actuator can rotate said guide rail by small torque and finely, by combining these said gears. Note that a center of at least one of these said gears is installed so as to overlap said shaft corresponding to this said guide rail. Even in a case of using three said actuators, since a direction of said rotor can be rotated finely without moving these said actuators, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well.
- The invention described in claim 19 is a rotation system with three degrees of freedom according to
claim - The invention described in claim 20 is a rotation system with three degrees of freedom according to
claim 16, 17 or 18, wherein a computer system rotates said rotor, by connecting at least one said actuator to said computer system. At least one said actuator inputs an electric signal outputted by said computer system. Therefore, even though said electric signal of said computer system is not in proportion to said rotation angle of said rotor, said computer system can calculate this said rotation angle by using equations and tables. Since a gap between said electric signal of said computer system, which is generated according to a position of said indication bar, and said rotation angle of said rotor can be corrected, in the present invention, many problems on a rotation system with three degrees of freedom are solved very well. - The invention described in
claim 21 is an artificial eye comprising a rotation system with three degrees of freedom according to claim 20, wherein a camera taking a picture in a direction opposite to said indication bar is embedded in said rotor. Said camera is embedded in said rotor as a lens of this said camera faces to a direction opposite to said indication bar, moreover said optical axis of this said lens passes through this said indication bar. In addition, an electric cable of this said camera is taken out to an external part, passing through said indication bar which is in a shape of a pipe. Therefore, this said camera can take a picture widely by indicating from an external part. Since a direction of said optical axis of said camera can be controlled by said computer system, in the present invention, many problems on an artificial eye are solved very well. - The invention described in
claim 22 is an artificial eye according toclaim 21, wherein an image rotates by that said computer system memorizes said image taken by said camera, and outputs each pixel of said image, exchanging an order of said pixels. Said computer system can rotate said image up to about 90 degrees, centering around an optical axis of said camera, by using a rotation system with three degrees of freedom. Moreover, this said computer system can rotate this said image within 360 degrees every 90 degrees, without performing affine transform, by changing an order of each pixel of this said image. Therefore, this said computer system can rotate this said image about 360 degrees, without using a special image processing system. Since said image taken by said camera can be rotated with any angle without using this special said image processing system, in the present invention, many problems on an artificial eye are solved very well. -
- FIG.1 is an explanation view for a rotation system with three degrees of freedom, in which a second guide rail and a third guide rail are installed on a base alternately.
- FIG.2 is an explanation view for a rotation system with three degrees of freedom, in which a third guide rail is installed on a base so as to be located at the outside of a second guide rail.
- FIG.3 is an explanation view for a first guide rail installed on a base.
- FIG.4 is an explanation view for an indication bar passing through a slit of a first guide rail.
- FIG.5 is an explanation view for a first guide rail installed on a base via spacers.
- FIG.6 is an explanation view for a rotor held by two bases via spacers.
- FIG.7 is an explanation view for a case that a terminal of a slider is bent toward the outside.
- FIG.8 is an explanation view for a slider passing through a slit of a third guide rail.
- FIG.9 is an explanation view for a third guide rail bent in a shape of a character, blacket.
- FIG.10 is an explanation view for a case that a terminal of a slider is bent.
- FIG.11 is an explanation view for a case that a stopper is installed on a terminal of a slider, for FIG.7.
- FIG.12 is an explanation view for a rotation system with three degrees of freedom, in which a slider slides along a slit of a fourth guide rail installed on an indication bar.
- FIG.13 is an explanation view for a case that a fourth guide rail, in which a slit is opened, is installed on an indication bar.
- FIG.14 is an explanation view for a case that a fourth guide rail whose shape is like an umbrella is installed on an indication bar.
- FIG.15 is an explanation view for a case that a pipe slider slides along a fourth guide rail whose shape is like a bar.
- FIG.16 is an explanation view for a case that a slider is installed on a pipe slider.
- FIG. 17 is an explanation view for a case that two pipe sliders slide along a third guide rail and a fourth guide rail whose shapes are like a bar, respectively, for FIG.1.
- FIG.18 is an explanation view for a case that a pipe slider slides along a fourth guide rail whose shape is like a bar, and another pipe slider is concatenated with this pipe slider by a concatenation shaft.
- FIG.19 is an explanation view for a case that a pipe slider slides along a fourth guide rail whose shape is like a bar, and a slider installed on this pipe slider slides along a fourth guide rail.
- FIG.20 is an explanation view for a case that a pipe slider is installed on a slider.
- FIG.21 is an explanation view for a case that terminals of two sliders are bent toward the outside.
- FIG.22 is an explanation view for a slider passing through a slit of a second guide rail.
- FIG.23 is an explanation view for a second guide rail installed on a base.
- FIG.24 is an explanation view for a slider passing through a slit of a third guide rail.
- FIG.25 is an explanation view for a case that terminals of two sliders are bent toward the inside.
- FIG.26 is an explanation view for a rotation system with three degrees of freedom, in which a second guide rail and a third guide rail are installed on a base alternately.
- FIG.27 is an explanation view for a rotation system with three degrees of freedom, in which a third guide rail is installed on a base so as to be located at the outside of a second guide rail.
- FIG.28 is an explanation view for a case that a fourth guide rail and a fifth guide rail are installed on an indication bar.
- FIG.29 is an explanation view for a case that a first guide rail and a sixth guide rail are installed on a base, in a body.
- FIG.30 is an explanation view for a case that a fourth guide rail and a fifth guide rail are formed in a shape of an umbrella.
- FIG.31 is an explanation view for a case that two pairs of sliders are concatenated by concatenation shafts, respectively, for FIG.29.
- FIG.32 is an explanation view for a case that a first guide rail and a sixth guide rail are installed individually on a base, respectively, for FIG.29.
- FIG.33 is an explanation view for a case that two pipe sliders slide along a second guide rail and a third guide rail whose shape is like a bar, respectively, for FIG.29.
- FIG.34 is an explanation view for a case that two pipe sliders slide along a first guide rail and a sixth guide rail whose shape is like a bar, respectively, for FIG.33.
- FIG.35 is an explanation view for a case that two pipe sliders slide along a fourth guide rail and a fifth guide rail whose shape is like a bar, respectively, for FIG.34.
- FIG.36 is an explanation view for a case that two pipe sliders slide along a fourth guide rail and a fifth guide rail whose shape is like a bar, respectively, and two other pipe slides are concatenated with each of the pipe sliders by concatenation shafts, respectively.
- FIG.37 is an explanation view for a case that encoders are connected directly with a first guide rail, a second guide rail and a third guide rail, for FIG.26.
- FIG.38 is an explanation view for gears installed on a first guide rail, a second guide rail and a third guide rail, for FIG.26.
- FIG.39 is an explanation view for a case that encoders are connected via gears installed on a first guide rail, a second guide rail and a third guide rail, for FIG.26.
- FIG.40 is an explanation view for an artificial eye in which a camera is embedded in a rotor.
-
- Some enforcement forms of a rotation system with three degrees of freedom using a
first guide rail 11, asecond guide rail 12 and athird guide rail 13 in the present invention are shown below. With reference to the drawings, then, it is explained about the enforcement forms. - As shown in FIG.1 and FIG.2, basic structure of a rotation system with three degrees of freedom is spherical surface bearing structure which is combined a
spherical rotor 1 and abase 2 hollowed out circularly. Anindication bar 3 is installed on therotor 1. Moreover, twoshafts 4, on which afirst guide rail 11 is installed, and twoshafts 4, on which asecond guide rail 12 and athird guide rail 13 are installed, are installed on thebase 2 so as to be orthogonal each other. Suppose here that theindication bar 3 is arranged at a place where thefirst guide rail 11, and thesecond guide rail 12 and thethird guide rail 13 cross. In this case, theindication bar 3 can move along these guide rails. That is, therotor 1 can rotate with three degrees of freedom according to a direction of theindication bar 3. With reference to the drawings, then, it is explained about a function of each part of a rotation system with three degrees of freedom. - First, a
rotor 1 and afirst guide rail 11 rotating centering aroundrotation axis 6 are shown in FIG.3 and FIG.4. As is clear from FIG.3, therotor 1 is arranged at a center of abase 2 as a center of therotor 1 is located on therotation axis 6, moreover twoshafts 4 are installed on thebase 2 so as to face each other on therotation axis 6. Since a central part of thebase 2 is here formed circularly, therotor 1 can rotate freely. Note that an outward form of thebase 2 may be voluntary. Twobearings 5 are installed on or formed at both terminals of afirst guide rail 11, respectively. As thefirst guide rail 11 arcs along a surface of therotor 1, thebearings 5 are installed on the correspondingshafts 4, respectively. Therefore, thefirst guide rail 11 can rotate centering around therotation axis 6. Note that some ball bearings can be used as thebearings 5. - As is clear from FIG.4, moreover, an
indication bar 3 is installed on or formed at therotor 1 as an extension line of theindication bar 3 passes through a center of therotor 1. In addition, since aslit 21 is opened at thefirst guide rail 11, theindication bar 3 can slide in theslit 21. Therefore, in a case that therotor 1 rotates centering around therotation axis 6, thefirst guide rail 11 also rotates only with the same rotation angle as therotor 1, centering around therotation axis 6 because theindication bar 3 pushes thefirst guide rail 11. Oppositely, in a case that thefirst guide rail 11 rotates centering around therotation axis 6, therotor 1 also rotates only with the same rotation angle as thefirst guide rail 11, centering around therotation axis 6 because thefirst guide rail 11 pushes theindication bar 3. - However, in a case that the
rotor 1 rotates along a longitudinal direction of theslit 21, thefirst guide rail 11 does not rotate because theindication bar 3 only slides in theslit 21. Therefore, therotor 1 can rotate until theindication bar 3 reaches at a terminal of theslit 21. Moreover, in a case that therotor 1 rotates centering around theindication bar 3, thefirst guide rail 11 does not rotate because theindication bar 3 does not add force to thefirst guide rail 11. Therefore, therotor 1 can rotate infinitely centering around theindication bar 3. - By the way, although a
base 2 is arranged just at a center of arotor 1 in FIG.3 and FIG.4, therotor 1 becomes unstable with this and gets out of thebase 2 easily. As shown in FIG.5, then, thebase 2 can support therotor 1 by shifting a position of thebase 2 from arotation axis 6 and fixing it to thebase 2 by aspacer 7. In addition, since thebase 2 stands in a way of anindication bar 3, afirst guide rail 11 can rotate 180 or more degrees. Note that a central part of thebase 2 is formed circularly, according to a contact surface of therotor 1, and contact surfaces of therotor 1 and thebase 2 are processed so as to make fraction between therotor 1 and thebase 2 very small, respectively. - However, the
rotor 1 hops within thebase 2 at this rate. As shown in FIG.6, therefore, therotor 1 can be stabilized by holding thisrotor 1 by twobases 2. Moreover, assembly of a rotation system with three degrees of freedom becomes easily, if it does in this way. Suppose here that many roll bodies (in general, balls) are arranged between therotor 1 and thebase 2. In this case, they make fraction between therotor 1 and thebase 2 extremely small, and reduce vibration of therotor 1. - Now, it has been described above about a rotation system with three degrees of freedom using a
first guide rail 11. However, this system can detect only a rotation angle centering around onerotation axis 6 of threerotation axes 6 of arotor 1. Note that FIG.8 is illustrated as arotation axis 6 of asecond guide rail 12 is orthogonal to arotation axis 6 of afirst guide rail 11. If asecond guide rail 12 is installed on abase 2, it is clear that two rotation angles centering around two of threerotation axes 6 of arotor 1 can be detected. It is explained here about a method detecting a rotation angle centering around a remaining one of threerotation axes 6 of arotor 1, using athird guide rail 13. - First, as shown in FIG.7, a
slider 22 whose terminal is bent toward the outside is installed on anindication bar 3. Here, some parts of theslider 22 installed on theindication bar 3 can have any sections, while these parts had better be bent circularly along a surface of arotor 1. On the other hand, a terminal of theslider 22 is in a shape of a bar. Next, as shown in FIG.8, athird guide rail 13 is installed on thesame rotation axis 6 as one of asecond guide rail 12 after theslider 22 was passed through aslit 21 of thethird guide rail 13. It is here good for aninstallation part 27 of thethird guide rail 13 and theslit 21 to be formed as thebase 2 and theslit 21 make orthogonal. Note that although FIG.8 shows a case that an angle τ, which theslit 21 and theinstallation part 27 make, becomes 90 degrees, it can prevent theinstallation part 27 from protruding much toward a lower side of thebase 2 if the angle τ is designed so as to be over 90 degrees during rotation of thethird guide rail 13. Moreover, theslit 21 had better be inclined toward the outside as theslider 22 slides smoothly. Finally, these guide rails may be installed on thebase 2 in a shape of a nest, or they may be installed on thebase 2 alternatively. - Now, as shown in FIG.8, suppose that a
second guide rail 12 and athird guide rail 13 make parallel. In this case, if aslider 22 slides in aslit 21 of thethird guide rail 13, anindication bar 3 also can move parallel to these guide rails. Moreover, theindication bar 3 does not rotate centering around its extension line because a gap of these guide rails is constant. Consider here a case that these guide rails rotate centering around arotation axis 6 passing through twoshafts 4, where the gap keeps constant. If therotor 1 rotates centering around therotation axis 6, theindication bar 3 pushes and pulls asecond guide rail 12. Therefore, the guide rail also rotate only with the same rotation angle as one of therotor 1, centering around therotation axis 6. Oppositely, in a case that the guide rail rotates centering around therotation axis 6, the guide rail pushes and pulls theindication bar 3. Therefore, therotor 1 also rotates only with the same rotation angle as one of the guide rail, centering around therotation axis 6. - Consider here a case that a
second guide rail 12 and athird guide rail 13 rotate independently. In this case, a gap of these guide rails becomes wide or narrow. When a gap of these guide rails becomes wide in terms of rigidity of aslider 22, anindication bar 3 rotates toward a direction that an angle , which theslider 22 and these guide rails make (refer to FIG.1 and FIG.2), approaches to 90 degrees. Oppositely, in a case that a gap of these guide rails becomes narrow, theindication bar 3 rotates toward a direction that an angle , which theslider 22 and the guide rails make, approaches to 0 degrees. Therefore, when arotor 1 rotated centering around an extension line of theindication bar 3, an angle made by these guide rails becomes big or small according to a rotation direction. In addition, by making an angle made by these guide rails big or small, therotor 1 can also rotate centering around an extension line of theindication bar 3. Therotor 1 here can rotate within a range of 0 degree to 180 degrees for these guide rails. In a case of using only the difference of rotation angles of these guide rails, however, a rotation angle can be specified within only a range of 0 degree to 90 degrees. Suppose here that both of these guide rails are similar to a shape like FIG.4, these guide rails are installed on abase 2 in a shape of a nest, and an outer guide rail can step over anindication bar 3. Only in this case, a rotation angle can be specified within a range of 0 degree to 180 degrees. - Now, in a case that a
second guide rail 12 and athird guide rail 13 rotate independently, a problem that a gap of these guide rails varies happens according to a position of anindication bar 3 even though the difference of rotation angles of these guide rails is constant. If such a change can be corrected by using a computer system and so on, there are no serious problems. Otherwise, a certain compensation means is desired. In order to make aslit 21 of these guide rails parallel to abase 2, therefore, athird guide rail 13 bent like a shape of a character, bracket is used, as shown in FIG.9. Note that asecond guide rail 12 is also bent in a shape of a character, bracket, similarly. By bending these guide rails like this, these guide rails move parallel along an arc centering around arotation axis 6 even though these guide rails rotate independently centering around therotation axis 6. Therefore, if the difference of rotation angles of these guide rails is constant, a gap of these guide rails also keeps constant in spite of a position of theindication bar 3. Note that a transfer area of theindication bar 3 becomes narrow. - It has been described above about a case that a
slider 22 bent toward the outside, as shown in FIG.7, was used. Instead of this, however, aslider 22 bent toward the inside, as shown in FIG.10, may be used. Note that, in this case, theslider 22 passes through theseslits 21 from the outside of athird guide rail 13. As shown in FIG.11, moreover, installation of a stopper on a terminal of aslider 22 can prevent theslider 22 from getting out of aslit 21 of thethird guide rail 13. - As shown in FIG.1 and FIG.2, then, an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 1 has afirst guide rail 11, and asecond guide rail 12 and athird guide rail 13 which are orthogonal. In particular, in an enforcement form of a rotation system with three degrees of freedom for an invention described inclaim 11, allshafts 4 are installed on abase 2. Note that, in FIG.1, thesecond guide rail 12 and thethird guide rail 13 are installed on thebase 2 alternatively. In addition, in FIG.2, these guide rails are installed on thebase 2 in a shape of a nest. Since somesliders 22 as shown in FIG.21 are used in FIG.1 and FIG.2, afirst guide rail 11 is installed at the inside of thesecond guide rail 12 and thethird guide rail 13. The reason is that it prevents terminals of thesliders 22 from getting caught on thefirst guide rail 11. Therefore, in a case that aslider 22 as shown in FIG.25 was used, afirst guide rail 11 had better be installed at the outside of thesecond guide rail 12 and thethird guide rail 13. In addition, as shown in FIG.1 and FIG.2, in a case that thesecond guide rail 12 and thethird guide rail 13 make parallel, suppose that these guide rails are installed on abase 2 as theslider 22 inclines 45 degrees against these guide rails. We can here calculate easily a rotation angle of arotor 1 centering around an extension line of anindication bar 3, from the difference of rotation angles of these guide rails. - It has been described above about a case that four
shafts 4 were embedded in abase 2 or a case that they were cut out from thebase 2. However, at least one of theshafts 4 may be installed on or formed as either one terminal of afirst guide rail 11, asecond guide rail 12 and athird guide rail 13. In this case, at least onebearing 5 is installed on a position of at least oneshaft 4 to be installed on thebase 2. Suppose here that a ball bearing is used for abearing 5 installed on thebase 2. In this case, it becomes difficult for some of these guide rails, which theshafts 4 were installed on, to separate from abase 2, moreover assembly of a rotation system with three degrees of freedom becomes easily. In particular, an enforcement form of a rotation system with three degree of freedom for an invention described inclaim 12 shows effect when asecond guide rail 12 and athird guide rail 13 are alternative. On the other hand, an enforcement form of a rotation system with three degrees of freedom for an invention described inclaim 13 shows effect when asecond guide rail 12 and athird guide rail 13 are in a shape of a nest. - Now, although an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 1 can rotate arotor 1 in spite of the small number of parts, there is a problem that a form of aslider 22 is complex. In order for the rotation system with three degrees of freedom to rotate therotor 1 stably, therefore, aslider 22 processed with fine accuracy is desired. As a result, the rotation system with three degrees of freedom becomes expensive. It is explained here about a rotation system with three degrees of freedom which does not use theslider 22 whose shape is complex. - First, as shown in FIG.12, a
fourth guide rail 14 bent in a shape of an arc along a surface of arotor 1 is installed on anindication bar 3. Aslit 21 is opened in thefourth guide rail 14 and aslider 22 slides in theslit 21. Note that both terminals of theslider 22 are processed so as to swell out, or as shown in FIG.13,stoppers 23 are installed on the both terminals. Therefore, theslider 22 does not get out of theslit 21. - As shown in FIG.12, then, in an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 3, aslider 22 is installed on a cross point of athird guide rail 13 and afourth guide rail 14. Suppose here that inclination of these guide rails is adjusted as an extension line of theslider 22 passes through a center of arotor 1. In this case, since theslider 22 always becomes vertical against these guide rails, theslider 22 can slide smoothly inslits 21 of these guide rails. That is, since afirst guide rail 11 rotates centering around two correspondingshafts 4, theslider 22 slides in aslit 21 of thethird guide rail 13. Therefore, therotor 1 can also rotate centering around theshafts 4. In addition, since thesecond guide rail 12 rotates centering around two correspondingshafts 4, thethird guide rail 13 also rotates together. Therefore, therotor 1 can also rotate centering around theshafts 4. Moreover, since theslider 22 slides in aslit 21 of thefourth guide rail 14, by varying a gap of thesecond guide rail 12 and thethird guide rail 13, therotor 1 can rotate centering around anindication bar 3. - By the way, the
slits 21 overlap doubly at a place of theslider 22. Therefore, in a case that at least one of these guide rails rotates centering aroundshafts 4, respectively, load is charged for only a part of theslider 22. The guide rails, thus, are possible to bend. As shown in FIG.14, then, afourth guide rail 14 becomes strong if thefourth guide rail 14 is formed as an umbrella. Of course, a form of thefourth guide rail 14 may be a whole or a part of the umbrella. - Now, it has been described above about a case that a
slit 21 was opened in all guide rails. In this case, allsliders 22 slide inslits 21 of these guide rails. However, thesliders 22 can slide along the guide rails even though theslits 21 do not exist. It is explained here about a case that at least one of the guide rails is in a shape of a bar. - For example, as shown in FIG. 15, suppose that a
fourth guide rail 14 is in a shape of a bar. In this case, as shown in FIG.16, apipe slider 25 can slide smoothly along thefourth guide rail 14 by installing aslider 22 on thepipe slider 25. Note that thepipe slider 25 bends along thefourth guide rail 14. Therefore, theslider 22 can also slide smoothly in aslit 21 of a third guide rails 13. Moreover, as shown in FIG.17, suppose that athird guide rail 13 is also in a shape of a bar. In this case, as shown in FIG.18, if twopipe sliders 25 are connected by aconcatenation shaft 24, thepipe sliders 25 can slide smoothly along the guide rails, by rotating freely centering around theconcatenation shaft 24. Note that thepipe sliders 25 bend along the guide rails, respectively. In addition, as shown in FIG.19, suppose that athird guide rail 13 is in a shape of a bar, and afourth guide rail 14 provides aslit 21. In this case, as shown in FIG.20, since apipe slider 25 slides along thethird guide rail 13, aslider 22 installed on thepipe slider 25 can slide smoothly in theslit 21 of thefourth guide rail 14, where thepipe slider 25 bends along thethird guide rail 13. - As is clear from FIG.1 to FIG.20, note that an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 10 can take out all wires from a
rotor 1, without twining at least one wire round all guide rails, by using anindication bar 3 which is in a shape of a pipe. In this case, these wires comes to an end without adding unnecessary load to all guide rails, by rolling a part of the wires in a shape of a coil. Therefore, since any parts can be installed on therotor 1, an application area of a rotation system with three degrees of freedom expands widely. - Besides this, an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 1 can also slide apipe slider 25 installed on any place of anindication bar 3 via aconcatenation shaft 24 or a bearing along afirst guide rail 11 which is in a shape of a bar. Note that thepipe slider 25 bends along thefirst guide rail 11. - Now, it has been described above about a case that a
slider 22 or at least onepipe slider 25 is installed on aindication bar 3, or it is concatenated to theindication bar 3. However, in such a case, theindication bar 3 is unstable because a force is added to theindication bar 3 from one direction. It is explained here about a method that forces are added evenly to theindication bar 3 from two opposite directions. - First, as shown in FIG.21, two
sliders 22 whose terminals are bent toward the outside are installed on anindication bar 3. Here, some parts of eachslider 22 installed on theindication bar 3 can have any sections, while these parts had better be bent circularly along a surface of arotor 1. On the other hand, terminals of thesliders 22 are in a shape of a bar. An angle made by the terminals is set up 180 degrees or less a little, centering around theindication bar 3. Next, after aslider 22 was passed through aslit 21 of asecond guide rail 12 as shown in FIG.22, thesecond guide rail 12 is installed on abase 2, similarly to afirst guide rail 11, as shown in FIG.23. It is here good for aninstallation part 27 of thesecond guide rail 12 and theslit 21 to be formed as thebase 2 and theslit 21 make orthogonal. Note that although FIG.22 shows a case that an angle τ, which theslit 21 and theinstallation part 27 make, becomes 90 degrees, it can prevent theinstallation part 27 from protruding much toward a lower side of thebase 2 if the angle τ is designed so as to be over 90 degrees during ratation of thesecond guide rail 12. Moreover, theslit 21 had better be inclined toward the outside as theslider 22 slides smoothly. Finally, as shown in FIG.24, suppose that athird guide rail 13 is installed on thebase 2, similarly to thesecond guide rail 12. In this case, these guide rails may be installed on thebase 2 in a shape of a nest, or they may be installed on thebase 2 alternatively. - Now, as shown in FIG.24, suppose that a
second guide rail 12 and athird guide rail 13 make parallel. In this case, if twosliders 22 slide inslits 21 of these guide rails, respectively, anindication bar 3 also can move parallel to these guide rails. Moreover, theindication bar 3 does not rotate centering around its extension line because a gap of these guide rails is constant. Consider here a case that these guide rails rotate centering around arotation axis 6 passing through twoshafts 4, where the gap keeps constant. If therotor 1 rotates centering around therotation axis 6, twosliders 22 installed on theindication bar 3 push and pull these guide rails. Therefore, these guide rails also rotate only with the same rotation angle as one of therotor 1, centering around therotation axis 6. Oppositely, in a case that these guide rails rotate centering around therotation axis 6, these guide rails push and pull thesliders 22. Therefore, therotor 1 also rotates only with the same rotation angle as one of these guide rails, centering around therotation axis 6. - Consider here a case that a
second guide rail 12 and athird guide rail 13 rotate independently. In this case, a gap of these guide rails becomes wide or narrow. When a gap of these guide rails becomes wide by rigidity of twosliders 22, anindication bar 3 rotates toward a direction that an angle , which thesliders 22 and these guide rails make (refer to FIG.1 and FIG.2), approaches to 90 degrees. Oppositely, in a case that a gap of these guide rails becomes narrow, theindication bar 3 rotates toward a direction that an angle , which thesliders 22 and the guide rails make, approaches to 0 degrees. Therefore, when arotor 1 rotated centering around an extension line of theindication bar 3, an angle made by these guide rails becomes big or small according to a rotation direction. In addition, by making an angle made by these guide rails big or small, therotor 1 can also rotate centering around an extension line of theindication bar 3. Therotor 1 here can rotate within a range of 0 degree to 180 degrees for these guide rails. In a case of using only the difference of rotation angles of these guide rails, however, a rotation angle can be specified within only a range of 0 degree to 90 degrees. Then, by making an angle made by terminals of the sliders 22 a little smaller than 180 degrees, centering around theindication bar 3, we can stop that therotor 1 rotates over 90 degrees even though the gap of these guide rails became the biggest. - Now, in a case that a
second guide rail 12 and athird guide rail 13 rotate independently, a problem that a gap of these guide rails varies happens according to a position of anindication bar 3 even though the difference of rotation angles of these guide rails is constant. If such a change can be corrected by using a computer system and so on, there are no serious problems. Otherwise, a certain compensation means is desired. In order to make aslit 21 of these guide rails parallel to abase 2, therefore, asecond guide rail 12 and athird guide rail 13 bent like a shape of a character, bracket are used, as shown in FIG.9. By bending these guide rails like this, these guide rails move parallel along an arc centering around arotation axis 6 even though these guide rails rotate independently centering around therotation axis 6. Therefore, if the difference of rotation angles of these guide rails is constant, a gap of these guide rails also keeps constant in spite of a position of theindication bar 3. Note that a transfer area of theindication bar 3 becomes narrow. - It has been described above about a case that two
sliders 22 bent toward the outside, as shown in FIG.21, were used. Instead of this, however, twosliders 22 bent toward the inside, as shown in FIG.25, may be used. Note that, in this case, eachslider 22 passes through theseslits 21 from the outside of asecond guide rail 12 and athird guide rail 13. - As shown in FIG.26 and FIG.27, then, an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 4 has afirst guide rail 11, and asecond guide rail 12 and athird guide rail 13, which are orthogonal. In particular, in an enforcement form of a rotation system with three degrees of freedom for an invention described inclaim 11, allshafts 4 are installed on abase 2. Note that, in FIG.26, thesecond guide rail 12 and thethird guide rail 13 are installed on thebase 2 alternatively. - In addition, in FIG.27, these guide rails are installed on the
base 2 in a shape of a nest. Since twosliders 22 as shown in FIG.21 are used in FIG.26 and FIG.27, afirst guide rail 11 is installed at the inside of thesecond guide rail 12 and thethird guide rail 13. The reason is that it prevents terminals of thesliders 22 from getting caught on thefirst guide rail 11. Therefore, in a case that twosliders 22 as shown in FIG.25 were used, afirst guide rail 11 had better be installed at the outside of thesecond guide rail 12 and thethird guide rail 13. In addition, as shown in FIG.26 and FIG.27, in a case that thesecond guide rail 12 and thethird guide rail 13 make parallel, suppose that these guide rails are installed on abase 2 as thesliders 22incline 45 degrees against these guide rails. We can here calculate easily a rotation angle of arotor 1 centering around an extension line of anindication bar 3, from the difference of rotation angles of these guide rails. - It has been described above about a case that four
shafts 4 were embedded in abase 2 or a case that they were cut out from thebase 2. However, at least one of theshafts 4 may be installed on or formed as either one terminal of afirst guide rail 11, asecond guide rail 12 and athird guide rail 13. In this case, at least onebearing 5 is installed on a position of at least oneshaft 4 to be installed on thebase 2. Suppose here that a ball bearing is used for abearing 5 installed on thebase 2. In this case, it becomes difficult for some of these guide rails, which theshafts 4 were installed on, to separate from abase 2, moreover assembly of a rotation system with three degrees of freedom becomes easily. In particular, an enforcement form of a rotation system with three degree of freedom for an invention described inclaim 12 shows effect when asecond guide rail 12 and athird guide rail 13 are alternative. On the other hand, an enforcement form of a rotation system with three degrees of freedom for an invention described inclaim 13 shows effect when asecond guide rail 12 and athird guide rail 13 are in a shape of a nest. - Now, although an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 4 can rotate arotor 1 in spite of the small number of parts, there is three following problem: First, a form of twosliders 22 is complex. Second, since an area at which thesliders 22 contacts with asecond guide rail 12 and athird guide rail 13 is narrow, thesliders 22 slip easily. Third, since anindication bar 3 staggers in aslit 21 of afirst guide rail 11, therotor 1 can not be stabilized. In order for the rotation system with three degrees of freedom to rotate therotor 1 stably, therefore, twosliders 22 processed with fine accuracy are desired. As a result, the rotation system with three degrees of freedom becomes expensive. It is explained here about a rotation system with three degrees of freedom which does not use thesliders 22 whose shape is complex. - First, as shown in FIG.28, a
fourth guide rail 14 and afifth guide rail 15 bent in a shape of an arc along a surface of arotor 1 is installed on anindication bar 3. Here, these guide rails may be made from a plate, or each guide rail may be installed on theindication bar 3.Slits 21 are opened in these guide rails, respectively, and aslider 22 slides in each slit 21. Note that both terminals of eachslider 22 are processed so as to swell out, or as shown in FIG.28,stoppers 23 are installed on the both terminals. Therefore, thesliders 22 do not get out of theslits 21. Next, suppose that afirst guide rail 11 and asecond guide rail 12 share abearing 5 at each of both terminals of them, and are installed on the correspondingshafts 4. Here, as shown in FIG.23, these guide rails are bent in a shape of an arc along a surface of arotor 1. Moreover, as shown in FIG.22, these guide rails are adhered or made from a plate so as to make a part of these guide rails bent in a shape of an arc vertical against abase 2 Therefore, these guide rails become parallel. - As shown in FIG.29, then, in an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 7, afirst guide rail 11 overlaps a cross point of asecond guide rail 12 and afifth guide rail 15, asixth guide rail 16 overlaps a cross point of athird guide rail 13 and afourth guide rail 14, moreover aslider 22 is installed on each cross point. Of course,sliders 22 may be installed on the cross point of thesecond guide rail 12 and thefourth guide rail 14, and the cross point of athird guide rail 13 and thefifth guide rail 15, respectively. Suppose here that inclination of these guide rails is adjusted as extension lines of thesliders 22 pass through a center of arotor 1. In this case, since thesliders 22 always become vertical against these guide rails, thesliders 22 can slide smoothly inslits 21 of these guide rails. That is, since thefifth guide rail 15 and thefourth guide rail 14 rotate centering around the correspondingshafts 4, thesliders 22 slide in aslit 21 of thesecond guide rail 12 and aslit 21 of thethird guide rail 13, respectively. Therefore, therotor 1 can also rotate centering around theshafts 4. In addition, since thesecond guide rail 12 and thethird guide rail 13 rotate centering around the correspondingshafts 4, thesliders 22 slide in aslit 21 of thefifth guide rail 15 and aslit 21 of thefourth guide rail 14, respectively. Therefore, therotor 1 can also rotate centering around theshafts 4. Moreover, thesliders 22 slide in thefifth guide rail 15 and thefourth guide rail 14, respectively, by varying a gap of thesecond guide rail 12 and thethird guide rail 13, therotor 1 can rotate centering around anindication bar 3. In addition, thesliders 22 slide in aslit 21 of thefirst guide rail 11 and aslit 21 of thesixth guide rail 16, respectively. Therefore, therotor 1 can rotate centering around anindication bar 3. - By the way, the
slits 21 overlap triply at a place of eachslider 22. Therefore, in a case that at least one of these guide rails rotates centering aroundshafts 4, respectively, load is charged for only a part of thesliders 22. The guide rails, thus, are possible to bend. It is explained here about a method of controlling distortion of these guide rails. - First, as shown in FIG.30, a
fourth guide rail 14 and afifth guide rail 15 are formed in a shape of an umbrella. Therefore, terminals of the guide rails do not bend. This method is the simplest, and extremely effective because it can control distortion of other guide rails together. - Next, as shown in FIG.31, in an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 7, afirst guide rail 11 overlaps a cross point of asecond guide rail 12 and afifth guide rail 15, asixth guide rail 16 overlaps a cross point of athird guide rail 13 and afourth guide rail 14. Moreover,sliders 22 are installed on the cross point of thesecond guide rail 12 and thefirst guide rail 11, and the cross point of athird guide rail 13 and thefirst guide rail 11, the cross point of thesecond guide rail 12 and thesixth guide rail 16, and and the cross point of athird guide rail 13 and thesixth guide rail 16, respectively. Suppose here that inclination of these guide rails is adjusted as extension lines of thesliders 22 pass through a center of arotor 1. Moreover, one side of terminal of each of twosliders 22, which slides in aslit 21 of thesecond guide rail 12, is concatenated with each other by aconcatenation shaft 26. Similarly, one side of terminal of each of twosliders 22, which slides in aslit 21 of thethird guide rail 13, is concatenated with each other by anotherconcatenation shaft 26. Therefore, since thefirst guide rail 11 and thesixth guide rail 16 do not bend, theslits 21 of these guide rails keep parallel. In addition, since thefourth guide rail 14 and thefifth guide rail 15 do not bend, therotor 1 rotates precisely centering around anindication bar 3. - Besides this, as shown in FIG.32, an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 7 rotates independently afirst guide rail 11 and asixth guide rail 16, respectively. Therefore, by rotating afirst guide rail 11, asecond guide rail 12, athird guide rail 13 and asixth guide rail 16 finely, the rotation system with three degrees of freedom can rotate arotor 1 with three degrees of freedom, without bending all guide rails. Oppositely, in a case that therotor 1 rotated with three degrees of freedom, afirst guide rail 11, asecond guide rail 12, athird guide rail 13 and asixth guide rail 16 rotate independently. Therefore, forces added to these guide rails via twosliders 22 can be distributed. - Now, it has been described above about a case that slits 21 are opened in all guide rails. In this case, all
sliders 22 slide inslits 21 of these guide rails. However, thesliders 22 can slide along the guide rails even though theslits 21 do not exist. It is explained here about a case that at least one of the guide rails is in a shape of a bar. - For example, as shown in FIG.33, suppose that a
second guide rail 12 and athird guide rail 13 are in a shape of a bar. In this case, in an enforcement form of a rotation system with three degrees of freedom for an invention described inclaim 7, twosliders 22 slide along these guide rails. Here, eachslider 22 has apipe slider 25, and these guide rails pass through thepipe sliders 25, respectively. Since eachpipe slider 25 installs at least one roll body at the inside of it, thepipe sliders 25 can slide smoothly along the guide rails, respectively. Note that thepipe sliders 25 are processed in a shape of an arc along these guide rails. Therefore, when a gap of these guide rails is big, thesliders 22 slide along afirst guide rail 11 and asixth guide rail 16, respectively. That is, thesliders 22 slide along afifth guide rail 15 and afourth guide rail 14. As a result, arotor 1 rotates clockwisely. Oppositely, when a gap of thesecond guide rail 12 and thethird guide rail 13 are small, therotor 1 rotates counter-clockwisely. In a case that thepipe sliders 25 were used like this, thepipe sliders 25 show effect similar to twoconcatenation shafts 26, as shown in FIG.31, Therefore, the guide rails do not bend. Here, since theconcatenation shafts 26 are not desired, afourth guide rail 14 and afifth guide rail 15 can be processed in a shape of an umbrella. - As shown in FIG.34, moreover, in a case that a
first guide rail 11, asecond guide rail 12, athird guide rail 13 and asixth guide rail 16 are in a shape of a bar, twopipe sliders 25 are installed to eachslider 22 so as to be orthogonal. Note that thepipe sliders 25 are processed in a shape of an arc along the guide rails. Therefore, the guide rails do not bend, moreover an extension line of eachslider 22 always passes through a center of arotor 1. Of course, if afourth guide rail 14 and afifth guide rail 15 are processed in a shape of an umbrella, these guide rails also do not bend. - By the way, what happens when a
fourth guide rail 14 and afifth guide rail 15 are in a shape of a bar. For example, in a case that first to sixth guide rails are in a shape of a bar, as shown in FIG.35, an enforcement form of a rotation system with three degrees of freedom for an invention described inclaim 7 uses twosliders 22 installing threepipe sliders 25, respectively. Note that arotor 1 can not rotate in a case that thepipe sliders 25 were fixed because directions of thefifth guide rail 15 and thefourth guide rail 14 are constant even though a gap of thesecond guide rail 12 and thethird guide rail 13 varies. As shown in FIG.36, suppose then that twopipe sliders 25 passing through thefifth guide rail 15 and thefourth guide rail 14 are concatenated with remainingpipe sliders 25 byconcatenation shafts 26, respectively. In this case, thepipe sliders 25 passing through thefirst guide rail 11 and thesixth guide rail 16 can rotate against the remainingpipe sliders 25 each other, centering around theconcatenation shafts 26, respectively. Therefore, therotor 1 can rotate centering around anindication bar 3 if a gap of thesecond guide rail 12 and thethird guide rail 13 varies. Thus, in an enforcement form of a rotation system with three degrees of freedom for an invention described inclaim 7, suppose that at least one of afirst guide rail 11 and asixth guide rail 16 is in a shape of a bar. If at least one of the remaining guide rails is in a shape of a bar, plurality ofpipe sliders 25 have only to be concatenated by theconcatenation shaft 26. - For brief explanation, here, it has been described about a rotation system with three degrees of freedom as shown in FIG.33, FIG.34 and FIG.35. Of course, in a case that at least one guide rail is in a shape of a bar, the same number of
pipe sliders 25 as these guide rails can be used. If eachpipe slider 25 installs at least one roll body at the inside of it, thepipe sliders 25 can slide smoothly along the corresponding guide rails, respectively. - Besides this, as is clear from FIG.26 to FIG.35, an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 10 can take out all wires from a
rotor 1, without twining at least one wire round all guide rails, by using anindication bar 3 which is in a shape of a pipe. In this case, these wires comes to an end without adding unnecessary load to all guide rails, by rolling a part of the wires in a shape of a coil. Therefore, since any parts can be installed on therotor 1, an application area of a rotation system with three degrees of freedom expands widely. - Now, it has been described above about a relation between a
slider 22 and the first to sixth guide rails. It is explained here about a detecting method of a rotation angle of arotor 1 and a driving method of therotor 1, by using a rotation system with three degrees of freedom, as shown in FIG.26. - As shown in FIG.37, in an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 14, suppose that at least oneshaft 4 is installed on at least one terminal, for each of afirst guide rail 11, asecond guide rail 12 and athird guide rail 13. In this case, plurality ofencoders 31 and plurality of actuators and so on are installed on theshafts 4 easily. Of course, in a case that theshafts 4 is not installed directly on these guide rails, theencoders 31 and the actuators may be installed directly on these guide rails. - By the way, as shown in FIG.37, suppose that an
encoder 31 is installed directly on ashaft 4, for each of afirst guide rail 11, asecond guide rail 12 and athird guide rail 13. In this case, theencoder 31 must be arranged on an extension line of theshaft 4. Moreover, since large load is added to these guide rails in order to rotate theencoder 31, the strength of these guide rails, anindication bar 3 and twosliders 22 must be large. However, a rotation system with three degrees of freedom becomes large and heavy with this. As shown in FIG.38, therefore, for each of these guide rails, agear 32 is installed on at least one of a guide rail, ashaft 4 and abearing 5. Suppose here that thegear 32 is fixed as a rotation axis of thegear 32 coincides with arotation axis 6 of theshaft 4. Therefore, eachencoder 31 can be arranged toward any direction. Moreover, by adjusting a gear ratio, theencoders 31 can rotate with a little torque. Note that, instead of agear 32, a crank or a cam can be used. - As shown in FIG.39, then, an enforcement form of a rotation system with three degrees of freedom for an invention described in
claim 15 can arrange each encoder 31 at any place. Although twoBevel gear 32 concatenate between each guide rail and the correspondingencoder 31 in FIG.39, of course, a Spur gear, a cylindrical gear and a Worm gear can be used. In addition, instead of agear 32, a crank or a cam also can be used. As is clear from FIG.39, anyencoders 31 do not move together with arotor 1 even though therotor 1 rotates with three degrees of freedom. In short, theencoders 31 can be fixed easily to abase 2 and a case. Therefore, a user of the present invention can design a rotation system with three degree of freedom easily. Moreover, an enforcement form of a rotation system with three degrees of freedom for an invention described inclaim 16 carries an actuator for each of at least oneencoder 31. Therefore, the present invention not only detect rotation angles of three degrees of freedom of therotor 1 but also can rotate therotor 1 with three degrees of freedom. The present invention, thus, is also suitable for an application so as to take a picture of any place, specifying a location taking a picture, like a moving camera which carries acamera 41 in therotor 1. Of course, like an enforcement form for inventions described in claim 17 and claim 18, it is possible to concatenate only an actuator with each of afirst guide rail 11, asecond guide rail 12 and athird guide rail 13. In particular, in a case of using a stepping motor for an actuator, it is possible to control an angle of therotor 1 finely without using theencoders 31. - Finally, in a rotation system with three degrees of freedom, the difference of rotation angles of two
encoders 31 connecting with asecond guide rail 12 and athird guide rail 13, respectively, must be calculated in order to derive a rotation angle of arotor 1. In addition, in a case that twosliders 22 slide inslits 21 of these guide rails, a rotation angle must be corrected according to a position of anindication bar 3. Therefore, an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 19 carries out these calculations by using a computer system. Moreover, in a case of rotating therotor 1 by using at least one actuator, too, a rotation angle of each actuator has to be controlled finely. Therefore, an enforcement form of a rotation system with three degrees of freedom for an invention described in claim 20 controls these actuators by using a computer system. By using a computer system like this, a user of the present invention can use a rotation system with three degrees of freedom easily. - It has been above about a case that three
encoders 31 and three actuators are used. However, in a case that afourth guide rail 14 and afifth guide rail 15 rotate independently, respectively, twoencoders 31 and two actuators are installed on these guide rails, twoshafts 4 supporting these guide rails and twobearings 5 installed on theshafts 4. Suppose here that these guide rails are installed on theshafts 4 as the guide rails are alternative. In this case, installation of theencoders 31 and the actuators becomes easily. - Now, it has been described above about a rotation system with three degrees of freedom. It is explained here about applications of the rotation system with three degrees of freedom.
- As shown in FIG.40, an enforcement form of an artificial eye for an invention described in
claim 21 is a rotation system with three degrees of freedom whose rotor 1 acamera 41 is embedded in. Note that, in FIG.40, thecamera 41 is appeared by slashes, moreover all guide rails except afirst guide rail 11 are omitted. Suppose here that alens 42 of thecamera 41 turns to a direction opposite to anindication bar 3, and thecamera 41 is embedded in therotor 1 as anoptical axis 43 of thelens 42 passes through theindication bar 3. In this case, by detecting the direction of theindication bar 3 by a computer system, the computer system can derive a direction of theoptical axis 43 easily. In addition, since plurality ofelectric cables 44 of thecamera 41 pass through theindication bar 3, theelectric cables 44 do not twine round any guide rails. Therefore, anoptical axis 43 of thelens 42 can also move until theindication bar 3 is disturbed by abase 2. Thus, the artificial eye can take a picture over a wide area. Moreover, by shifting a position of thebase 2 from a center of therotor 1 and by installing ahemispherical cover 45 on thebase 2 so as to cover therotor 1, thecover 45 can protect therotor 1 from dust, water and so on, without disturbing movement of all guide rails. Therefore, a user of the present invention can carry an artificial eye easily even in a narrow space like a cell phone. - Now, it has been described above about a case that a rotation system with three degrees of freedom rotates a
rotor 1 up to about 90 degrees, centering around anindication bar 3. However, with this, acamera 41 embedded in therotor 1 also can rotate only up to about 90 degrees, centering around anoptical axis 43 of thecamera 41. It is explained here about a method rotating an image taken by thecamera 41 with any angle. - First, an image taken by a
camera 41 embedded in arotor 1 is once memorized by a computer system. Note that each pixel of the image is memorized by turns in a memory of the computer system. Here, any kind of image processing like gamma correction is also carried out for these pixels. Next, the computer system outputs these pixels by turns as the image rotates every 90 degrees. Note that the computer system has only to read these pixels in a specific order from either of four corners of the image because these pixels are memorized by turns in the memory. In short, the computer system does not have to perform affine transform. Therefore, the computer system can rotate the image every 90 degrees, only by reading and writing these pixels for the memory. Suppose then that the computer system rotates acamera 41 up to about 90 degrees by using a rotation system with three degrees of freedom. As a result, an image taken by thecamera 41 can be rotated within almost 360 degrees. In this method, power consumption does not vary even though the image is rotated at any angle. Therefore, this is suitable for equipments like a cell phone, in which low power consumption is desired. - While the invention has been shown by example, it should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the invention is to cover all modifications equivalents, and alternative falling within the spirit and scope of the invention as defined by the appended claims.
- As suggested by
claim 1 to claim 13, three rotation angles of arotor 1 can be specified in spite of rotating therotor 1 with three degrees of freedom. Oppositely, by rotating first to sixth guide rails suitably, anindication bar 3 can be moved so as to turn to a specific direction and to coincide with a specific rotation angle centering around theindication bar 3. Therefore, therotor 1 also can be rotated in a suitable direction. In the present invention, these guide rails are connected with abase 2 viashafts 4 andbearings 5, respectively. That is, abase 2 itself does not have to rotate in order to rotate arotor 1 in a specific direction, like a traditional moving system with three degrees of freedom. Therefore, a manufacturer of the present invention can make a rotation system with three degrees of freedom, by using a little number of parts, by a simple and small structure and cheaply. - As suggested by claim 10, all wires can be taken out to an external part, by passing the wires through an
indication bar 3. Moreover, the wires may beelectric cables 44. By installing acamera 41 on arotor 1, then, a designer of a movingcamera 41 can design a moving camera and an artificial eye easily, without twining all wires round all guide rails. In addition, in a case that a manufacturer of a joy stick installed a linear encoder on arotor 1 vertically, a user of the joy stick also can control zoom of a moving camera, only by sliding the linear encoder forward and backward. - As suggested by
claim 14, claim 15 and claim 19, three rotation angles of arotor 1 can be detected by combining output results of threeencoder 31. Therefore, in a case that a user of the present invention rotated therotor 1 like a trackball, the present invention can detect rotation angles of therotor 1. In addition, in a case that a user of the present invention rotated anindication bar 3 like a joy stick, the present invention can also detect rotation angles of theindication bar 3. Moreover, even in a case of rotating therotor 1 by using a traditional actuator with multi degrees of freedom, the present invention can detect rotation angles of therotor 1. Therefore, by carrying the present invention in a small information terminal like a cell phone, a designer of the terminal can realize cheaply a small and light user interface controlling a moving camera. In addition, by embedding acamera 41 in therotor 1, a user of the present invention can use the present invention for a moving camera and an artificial eye. Here, by forming anindication bar 3 as a pipe, signal lines of thecamera 41 can be taken out from therotor 1 easily. Therefore, the present invention is very effective for a moving camera and an artificial eye. - As suggested by
claim 16, claim 19 and claim 20, three rotation angles of arotor 1 can be detected by combining output results of threeencoder 31, moreover arotor 1 can be rotated according to these rotation angles. Therefore, by installing supports on therotor 1 and abase 2, respectively, a user of the present invention can use the present invention for a joint of a robot. In addition, by embedding acamera 41 on therotor 1, a user of the present invention can use the present invention for a moving camera and an artificial eye. Here, by forming anindication bar 3 as a pipe, signal lines of thecamera 41 can be taken out from therotor 1 easily. Therefore, the present invention is very effective for the moving camera and the artificial eye. Moreover, in a case that a joy stick was made by using the present invention, suppose that a user of the joy stick controls the moving camera from a remote place, while a direction of the moving camera is reflected to the joy stick. In this case, the user can realize bi-directional interface, by which he can experience a direction of the moving camera. - As suggested by claim 17, claim 18 and claim 20, a
rotor 1 can be rotated according to rotation angles of three actuators, by rotating them independently, respectively. Therefore, a user of the present invention can use the present invention for a platform. In addition, by installing a source of light on therotor 1, a user of the present invention can use the present invention for a search light. Moreover, by installing a mirror on therotor 1, a user of the present invention can use the present invention for an electric back mirror and an electric side mirror. Besides this, by using a stepping motor for an actuator, moreover by embedding acamera 41 in therotor 1, a user of the present invention can use the present invention for a moving camera and an artificial eye. Here, by forming anindication bar 3 as a pipe, signal lines of thecamera 41 can be taken out from therotor 1 easily. Therefore, the present invention is very effective for the moving camera and the artificial eye. - As suggested by
claim 21, by embedding acamera 41 in arotor 1, an artificial eye can control a direction of anoptical axis 43 of thecamera 41 with three degrees of freedom without increasing a volume of therotor 1, by using a computer system. Therefore, a designer of a cell phone can carry the artificial eye in the cell phone with which a miniaturization is called for. - As suggested by
claim 22, an artificial eye can rotate an image taken by acamera 41 with any angle without using a special image processing like affine transform and so on. That is, even though a size of the image became big, the artificial eye does not have to consume too much power, in order to rotate the image with any angle. Therefore, a designer of a cell phone can carry the artificial eye in the cell phone with which a low power consumption is called for.
Claims (22)
- A rotation system with three degrees of freedom comprising a rotor comprising a part or a whole of a sphere, an indication bar, at least one slider, at least one base, four shafts, six bearings, and three first to third guide rails,
wherein
said rotor includes said indication bar,
said first guide rail is installed on said base by using two said shafts and two said bearings,
said second guide rail and said third guide rail are installed on said base by using two remaining said shafts and four remaining said bearings, and
at least one said slider is installed on or concatenated with said indication bar, moreover wherein
said rotor rotates centering around two said shafts supporting said first guide rail, sliding said indication bar along said first guide rail,
said rotor rotates centering around two said shafts supporting said first guide rail, sliding said indication bar along said second guide rail, and
said rotor rotates centering around said indication bar, sliding at least one said slider along said third guide rail. - A rotation system with three degrees of freedom according to claim 1,
wherein said indication bar passes through slits, which are opened in at least one of said first guide rail and a second guide rail. - A rotation system with three degrees of freedom according to claim 1 or 2,
wherein
a fourth guide rail is installed on said indication bar, and
said slider slides along said fourth guide rail. - A rotation system with three degrees of freedom comprising a rotor comprising a part or a whole of a sphere, an indication bar, at least two sliders, at least one base, four shafts, six bearings, and three first to third guide rails,
wherein
said rotor comprises said indication bar,
said first guide rail is installed on said base by using two said shafts and two said bearings,
said second guide rail and said third guide rail are installed on said base by using two remaining said shafts and four remaining said bearings, and
at least two said sliders are installed on or concatenated with said indication bar, moreover wherein
said rotor rotates centering around two said shafts supporting said first guide rail, sliding said indication bar along said first guide rail,
said rotor rotates centering around two said shafts supporting said second guide rail and said third guide rail, sliding at least two said sliders along these guide rails, and
said rotor rotates centering around said indication bar, sliding at least two said sliders along said second guide rail and said third guide rail. - A rotation system with three degrees of freedom according to claim 4,
wherein said indication bar passes through a slit, which is opened in said first guide rail. - A rotation system with three degrees of freedom according to claim 4 or 5,
wherein
a fourth guide rail and a fifth guide rail are installed on said indication bar, and
two said sliders slide along these said guide rails, respectively. - A rotation system with three degrees of freedom comprising a rotor comprising a part or a whole of a sphere, an indication bar, at least two sliders, at least one base, four shafts, six bearings, and four first to third and sixth guide rails,
wherein
said rotor comprises said indication bar,
said first guide rail and said sixth guide rail are installed on said base by using two said shafts and two said bearings,
said second guide rail and said third guide rail are installed on said base by using two remaining said shafts and four remaining said bearings, and
at least two said sliders are installed on or concatenated with said indication bar, moreover wherein
said rotor rotates centering around two said shafts supporting said first guide rail and said sixth guide rail, sliding at least two said sliders along these said guide rails,
said rotor rotates centering around two said shafts supporting said second guide rail and said third guide rail, sliding at least two said sliders along these guide rails, and
said rotor rotates centering around said indication bar, sliding at least two said sliders along said second guide rail and said third guide rail. - A rotation system with three degrees of freedom according to claim 7,
wherein at least two said sliders pass through slits, respectively, which are opened in said first guide rail and said sixth guide rail. - A rotation system with three degrees of freedom according to claim 7 or 8,
wherein
a fourth guide rail and a fifth guide rail are installed on said indication bar, and
two said sliders slide along these said guide rails, respectively. - A rotation system with three degrees of freedom according to any one of claims 1 to 9,
wherein
said indication bar is a pipe, and
at least one wire passes through said indication bar. - A rotation system with three degrees of freedom according to any one of claims 1 to 10,
wherein all said shafts are installed on at least one said base so as to face with each other every two shafts. - A rotation system with three degrees of freedom according to any one of claims 1 to 10,
wherein
four said bearings are installed on at least one said base so as to face with each other every two shafts,
two said shafts installed on a terminal of said second guide rail and said third guide rail are installed on two said bearings installed on said base, respectively, and
two said bearings installed on another terminal of said second guide rail and said third guide rail are installed on said shafts of said third guide rail and said second guide rail, respectively. - A rotation system with three degrees of freedom according to any one of claims 1 to 10,
wherein
four said bearings are installed on at least one said base so as to face with each other every two shafts,
two said shafts installed on both terminals of said second guide rail are installed on two said bearings installed on said base, respectively, and
two said bearings installed on both terminal of said third guide rail are installed on said shafts of said second guide rail, respectively. - A rotation system with three degrees of freedom according to any one of claims 1 to 13,
wherein at least one encoder detects a direction of said rotor, by detecting at least one rotation angle of said guide rails, said shafts and said bearings. - A rotation system with three degrees of freedom according to claim 14,
wherein at least one encoder detects said direction of said rotor, by concatenating it to at least one of said guide rails, said shafts and said bearings via plurality of gears. - A rotation system with three degrees of freedom according to claim 14 or 15,
wherein each of at least one said encoder comprises an actuator. - A rotation system with three degrees of freedom according to any one of claims 1 to 13,
wherein at least one actuator rotates said rotor, by rotating at least one of said guide rails, said shafts and said bearings. - A rotation system with three degrees of freedom according to claim 17,
wherein at least one actuator rotates said rotor, by concatenating it to at least one of said guide rails, said shafts and said bearings via plurality of gears. - A rotation system with three degrees of freedom according to claim 14, 15 or 16,
wherein a computer system calculates a rotation angle of said rotor, by connecting at least one said encoder to said computer system. - A rotation system with three degrees of freedom according to claim 16, 17 or 18,
wherein a computer system rotates said rotor, by connecting at least one said actuator to said computer system. - An artificial eye comprising a rotation system with three degrees of freedom according to claim 20,
wherein a camera taking a picture in a direction opposite to said indication bar is embedded in said rotor. - An artificial eye according to claim 21,
wherein an image rotates by that said computer system
memorizes said image taken by said camera, and
outputs each pixel of said image, exchanging an order of said pixels.
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
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JP2002216381 | 2002-07-25 | ||
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JP2002252960 | 2002-08-30 | ||
JP2002252960 | 2002-08-30 | ||
PCT/JP2003/009058 WO2004011824A1 (en) | 2002-07-25 | 2003-07-16 | Rotation system with three degree of freedom and application of the same |
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EP1541897A1 true EP1541897A1 (en) | 2005-06-15 |
EP1541897A4 EP1541897A4 (en) | 2009-07-01 |
EP1541897B1 EP1541897B1 (en) | 2010-11-10 |
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EP03741435A Expired - Lifetime EP1541897B1 (en) | 2002-07-25 | 2003-07-16 | Rotation system with three degree of freedom and application of the same |
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US (1) | US7396168B2 (en) |
EP (1) | EP1541897B1 (en) |
JP (1) | JP4378345B2 (en) |
CN (1) | CN100351546C (en) |
AU (1) | AU2003281712A1 (en) |
DE (1) | DE60334918D1 (en) |
TW (1) | TW200404130A (en) |
WO (1) | WO2004011824A1 (en) |
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- 2003-07-16 JP JP2005505573A patent/JP4378345B2/en not_active Expired - Fee Related
- 2003-07-16 CN CNB038177978A patent/CN100351546C/en not_active Expired - Fee Related
- 2003-07-16 AU AU2003281712A patent/AU2003281712A1/en not_active Abandoned
- 2003-07-16 WO PCT/JP2003/009058 patent/WO2004011824A1/en active Application Filing
- 2003-07-16 US US10/522,306 patent/US7396168B2/en not_active Expired - Fee Related
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US10856819B2 (en) | 2013-09-20 | 2020-12-08 | Radux Devices, LLC | Lock-block shield device |
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US11302453B2 (en) | 2014-07-25 | 2022-04-12 | Radux Devices, LLC | Shielding device and method |
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CN107063235B (en) * | 2017-04-27 | 2023-07-21 | 上海交通大学 | Unmanned aerial vehicle debugging platform |
US10517550B2 (en) | 2018-05-04 | 2019-12-31 | Radux Devices, LLC | Radiation shielding devices, systems, and methods |
US10861611B2 (en) | 2018-05-04 | 2020-12-08 | Radux Devices, LLC | Radiation shielding devices, systems, and methods |
US11222732B2 (en) | 2018-05-04 | 2022-01-11 | Radux Devices, LLC | Radiation shielding devices, systems, and methods |
US11587692B2 (en) | 2018-05-04 | 2023-02-21 | Radux Devices, LLC | Radiation shielding devices, systems, and methods |
US11948701B2 (en) | 2018-05-04 | 2024-04-02 | Radux Devices, LLC | Radiation shielding devices, systems, and methods |
Also Published As
Publication number | Publication date |
---|---|
JP4378345B2 (en) | 2009-12-02 |
WO2004011824A1 (en) | 2004-02-05 |
EP1541897B1 (en) | 2010-11-10 |
EP1541897A4 (en) | 2009-07-01 |
TW200404130A (en) | 2004-03-16 |
CN100351546C (en) | 2007-11-28 |
TWI302185B (en) | 2008-10-21 |
AU2003281712A1 (en) | 2004-02-16 |
US7396168B2 (en) | 2008-07-08 |
CN1671980A (en) | 2005-09-21 |
DE60334918D1 (en) | 2010-12-23 |
JPWO2004011824A1 (en) | 2005-11-24 |
US20060050173A1 (en) | 2006-03-09 |
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